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Use std::string_view and fmtlib across all libraries (#3402)

Browse Source 
- Twine, StringRef, Format, and NativeFormatting have been removed
- Logging now uses fmtlib style formatting
- Nearly all uses of wpi::outs/errs have been replaced with fmt::print() or
std::puts()/std::fputs() (for unformatted strings).
- A wpi/fmt/raw_ostream.h header has been added to enable
fmt::print() with wpi::raw_ostream
This commit is contained in:
Peter Johnson
2021-06-06 16:13:58 -07:00
committed by GitHub
parent 4f1cecb8e7
commit b2c3b2dd8e
441 changed files with 5061 additions and 9749 deletions
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12
cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
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@@ -13,7 +13,7 @@
using namespace cs;
ConfigurableSourceImpl::ConfigurableSourceImpl(const wpi::Twine& name,
ConfigurableSourceImpl::ConfigurableSourceImpl(std::string_view name,
wpi::Logger& logger,
Notifier& notifier,
Telemetry& telemetry,
@@ -50,11 +50,11 @@ void ConfigurableSourceImpl::NumSinksEnabledChanged() {
// ignore
}
void ConfigurableSourceImpl::NotifyError(const wpi::Twine& msg) {
void ConfigurableSourceImpl::NotifyError(std::string_view msg) {
PutError(msg, wpi::Now());
}
int ConfigurableSourceImpl::CreateProperty(const wpi::Twine& name,
int ConfigurableSourceImpl::CreateProperty(std::string_view name,
CS_PropertyKind kind, int minimum,
int maximum, int step,
int defaultValue, int value) {
@@ -75,12 +75,12 @@ int ConfigurableSourceImpl::CreateProperty(const wpi::Twine& name,
value = prop.value;
});
m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CREATED, name, ndx,
kind, value, wpi::Twine{});
kind, value, {});
return ndx;
}
int ConfigurableSourceImpl::CreateProperty(
const wpi::Twine& name, CS_PropertyKind kind, int minimum, int maximum,
std::string_view name, CS_PropertyKind kind, int minimum, int maximum,
int step, int defaultValue, int value,
std::function<void(CS_Property property)> onChange) {
// TODO
@@ -102,5 +102,5 @@ void ConfigurableSourceImpl::SetEnumPropertyChoices(
prop->enumChoices = choices;
m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CHOICES_UPDATED,
prop->name, property, CS_PROP_ENUM,
prop->value, wpi::Twine{});
prop->value, {});
}

10
cscore/src/main/native/cpp/ConfigurableSourceImpl.h
View File

@@ -9,10 +9,10 @@
#include <functional>
#include <memory>
#include <string>
#include <string_view>
#include <vector>
#include <wpi/ArrayRef.h>
#include <wpi/Twine.h>
#include "SourceImpl.h"
@@ -20,7 +20,7 @@ namespace cs {
class ConfigurableSourceImpl : public SourceImpl {
protected:
ConfigurableSourceImpl(const wpi::Twine& name, wpi::Logger& logger,
ConfigurableSourceImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
const VideoMode& mode);
@@ -35,10 +35,10 @@ class ConfigurableSourceImpl : public SourceImpl {
void NumSinksEnabledChanged() override;
// OpenCV-specific functions
void NotifyError(const wpi::Twine& msg);
int CreateProperty(const wpi::Twine& name, CS_PropertyKind kind, int minimum,
void NotifyError(std::string_view msg);
int CreateProperty(std::string_view name, CS_PropertyKind kind, int minimum,
int maximum, int step, int defaultValue, int value);
int CreateProperty(const wpi::Twine& name, CS_PropertyKind kind, int minimum,
int CreateProperty(std::string_view name, CS_PropertyKind kind, int minimum,
int maximum, int step, int defaultValue, int value,
std::function<void(CS_Property property)> onChange);
void SetEnumPropertyChoices(int property, wpi::ArrayRef<std::string> choices,

18
cscore/src/main/native/cpp/CvSinkImpl.cpp
View File

@@ -18,14 +18,14 @@
using namespace cs;
CvSinkImpl::CvSinkImpl(const wpi::Twine& name, wpi::Logger& logger,
CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry)
: SinkImpl{name, logger, notifier, telemetry} {
m_active = true;
// m_thread = std::thread(&CvSinkImpl::ThreadMain, this);
}
CvSinkImpl::CvSinkImpl(const wpi::Twine& name, wpi::Logger& logger,
CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
std::function<void(uint64_t time)> processFrame)
: SinkImpl{name, logger, notifier, telemetry} {}
@@ -110,7 +110,7 @@ void CvSinkImpl::ThreadMain() {
std::this_thread::sleep_for(std::chrono::seconds(1));
continue;
}
SDEBUG4("waiting for frame");
SDEBUG4("{}", "waiting for frame");
Frame frame = source->GetNextFrame(); // blocks
if (!m_active) {
break;
@@ -127,14 +127,14 @@ void CvSinkImpl::ThreadMain() {
namespace cs {
CS_Sink CreateCvSink(const wpi::Twine& name, CS_Status* status) {
CS_Sink CreateCvSink(std::string_view name, CS_Status* status) {
auto& inst = Instance::GetInstance();
return inst.CreateSink(
CS_SINK_CV, std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
inst.telemetry));
}
CS_Sink CreateCvSinkCallback(const wpi::Twine& name,
CS_Sink CreateCvSinkCallback(std::string_view name,
std::function<void(uint64_t time)> processFrame,
CS_Status* status) {
auto& inst = Instance::GetInstance();
@@ -145,7 +145,7 @@ CS_Sink CreateCvSinkCallback(const wpi::Twine& name,
static constexpr unsigned SinkMask = CS_SINK_CV | CS_SINK_RAW;
void SetSinkDescription(CS_Sink sink, const wpi::Twine& description,
void SetSinkDescription(CS_Sink sink, std::string_view description,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || (data->kind & SinkMask) == 0) {
@@ -183,12 +183,12 @@ std::string GetSinkError(CS_Sink sink, CS_Status* status) {
return static_cast<CvSinkImpl&>(*data->sink).GetError();
}
wpi::StringRef GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
std::string_view GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return wpi::StringRef{};
return {};
}
return static_cast<CvSinkImpl&>(*data->sink).GetError(buf);
}

6
cscore/src/main/native/cpp/CvSinkImpl.h
View File

@@ -9,10 +9,10 @@
#include <atomic>
#include <functional>
#include <string_view>
#include <thread>
#include <opencv2/core/core.hpp>
#include <wpi/Twine.h>
#include <wpi/condition_variable.h>
#include "Frame.h"
@@ -24,9 +24,9 @@ class SourceImpl;
class CvSinkImpl : public SinkImpl {
public:
CvSinkImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
CvSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry);
CvSinkImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
CvSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry,
std::function<void(uint64_t time)> processFrame);
~CvSinkImpl() override;

15
cscore/src/main/native/cpp/CvSourceImpl.cpp
View File

@@ -19,7 +19,7 @@
using namespace cs;
CvSourceImpl::CvSourceImpl(const wpi::Twine& name, wpi::Logger& logger,
CvSourceImpl::CvSourceImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
const VideoMode& mode)
: ConfigurableSourceImpl{name, logger, notifier, telemetry, mode} {}
@@ -53,8 +53,7 @@ void CvSourceImpl::PutFrame(cv::Mat& image) {
cv::cvtColor(finalImage, dest->AsMat(), cv::COLOR_BGRA2BGR);
break;
default:
SERROR("PutFrame: " << image.channels()
<< "-channel images not supported");
SERROR("PutFrame: {}-channel images not supported", image.channels());
return;
}
SourceImpl::PutFrame(std::move(dest), wpi::Now());
@@ -62,7 +61,7 @@ void CvSourceImpl::PutFrame(cv::Mat& image) {
namespace cs {
CS_Source CreateCvSource(const wpi::Twine& name, const VideoMode& mode,
CS_Source CreateCvSource(std::string_view name, const VideoMode& mode,
CS_Status* status) {
auto& inst = Instance::GetInstance();
return inst.CreateSource(CS_SOURCE_CV, std::make_shared<CvSourceImpl>(
@@ -81,7 +80,7 @@ void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status) {
static constexpr unsigned SourceMask = CS_SINK_CV | CS_SINK_RAW;
void NotifySourceError(CS_Source source, const wpi::Twine& msg,
void NotifySourceError(CS_Source source, std::string_view msg,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data || (data->kind & SourceMask) == 0) {
@@ -100,7 +99,7 @@ void SetSourceConnected(CS_Source source, bool connected, CS_Status* status) {
static_cast<CvSourceImpl&>(*data->source).SetConnected(connected);
}
void SetSourceDescription(CS_Source source, const wpi::Twine& description,
void SetSourceDescription(CS_Source source, std::string_view description,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data || (data->kind & SourceMask) == 0) {
@@ -110,7 +109,7 @@ void SetSourceDescription(CS_Source source, const wpi::Twine& description,
static_cast<CvSourceImpl&>(*data->source).SetDescription(description);
}
CS_Property CreateSourceProperty(CS_Source source, const wpi::Twine& name,
CS_Property CreateSourceProperty(CS_Source source, std::string_view name,
CS_PropertyKind kind, int minimum, int maximum,
int step, int defaultValue, int value,
CS_Status* status) {
@@ -126,7 +125,7 @@ CS_Property CreateSourceProperty(CS_Source source, const wpi::Twine& name,
}
CS_Property CreateSourcePropertyCallback(
CS_Source source, const wpi::Twine& name, CS_PropertyKind kind, int minimum,
CS_Source source, std::string_view name, CS_PropertyKind kind, int minimum,
int maximum, int step, int defaultValue, int value,
std::function<void(CS_Property property)> onChange, CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);

4
cscore/src/main/native/cpp/CvSourceImpl.h
View File

@@ -9,11 +9,11 @@
#include <functional>
#include <memory>
#include <string>
#include <string_view>
#include <vector>
#include <opencv2/core/core.hpp>
#include <wpi/ArrayRef.h>
#include <wpi/Twine.h>
#include "ConfigurableSourceImpl.h"
#include "SourceImpl.h"
@@ -22,7 +22,7 @@ namespace cs {
class CvSourceImpl : public ConfigurableSourceImpl {
public:
CvSourceImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
CvSourceImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry, const VideoMode& mode);
~CvSourceImpl() override;

10
cscore/src/main/native/cpp/Frame.cpp
View File

@@ -16,10 +16,10 @@
using namespace cs;
Frame::Frame(SourceImpl& source, const wpi::Twine& error, Time time)
Frame::Frame(SourceImpl& source, std::string_view error, Time time)
: m_impl{source.AllocFrameImpl().release()} {
m_impl->refcount = 1;
m_impl->error = error.str();
m_impl->error = error;
m_impl->time = time;
}
@@ -522,10 +522,8 @@ Image* Frame::GetImageImpl(int width, int height,
}
WPI_DEBUG4(Instance::GetInstance().logger,
"converting image from " << cur->width << "x" << cur->height
<< " type " << cur->pixelFormat << " to "
<< width << "x" << height << " type "
<< pixelFormat);
"converting image from {}x{} type {} to {}x{} type {}", cur->width,
cur->height, cur->pixelFormat, width, height, pixelFormat);
// If the source image is a JPEG, we need to decode it before we can do
// anything else with it. Note that if the destination format is JPEG, we

6
cscore/src/main/native/cpp/Frame.h
View File

@@ -8,11 +8,11 @@
#include <atomic>
#include <memory>
#include <string>
#include <string_view>
#include <utility>
#include <vector>
#include <wpi/SmallVector.h>
#include <wpi/Twine.h>
#include <wpi/mutex.h>
#include "Image.h"
@@ -44,7 +44,7 @@ class Frame {
public:
Frame() noexcept = default;
Frame(SourceImpl& source, const wpi::Twine& error, Time time);
Frame(SourceImpl& source, std::string_view error, Time time);
Frame(SourceImpl& source, std::unique_ptr<Image> image, Time time);
@@ -72,7 +72,7 @@ class Frame {
Time GetTime() const { return m_impl ? m_impl->time : 0; }
wpi::StringRef GetError() const {
std::string_view GetError() const {
if (!m_impl) {
return {};
}

93
cscore/src/main/native/cpp/HttpCameraImpl.cpp
View File

@@ -5,6 +5,7 @@
#include "HttpCameraImpl.h"
#include <wpi/MemAlloc.h>
#include <wpi/StringExtras.h>
#include <wpi/TCPConnector.h>
#include <wpi/timestamp.h>
@@ -18,7 +19,7 @@
using namespace cs;
HttpCameraImpl::HttpCameraImpl(const wpi::Twine& name, CS_HttpCameraKind kind,
HttpCameraImpl::HttpCameraImpl(std::string_view name, CS_HttpCameraKind kind,
wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry)
: SourceImpl{name, logger, notifier, telemetry}, m_kind{kind} {}
@@ -84,7 +85,7 @@ void HttpCameraImpl::MonitorThreadMain() {
// (this will result in an error at the read point, and ultimately
// a reconnect attempt)
if (m_streamConn && m_frameCount == 0) {
SWARNING("Monitor detected stream hung, disconnecting");
SWARNING("{}", "Monitor detected stream hung, disconnecting");
m_streamConn->stream->close();
}
@@ -92,7 +93,7 @@ void HttpCameraImpl::MonitorThreadMain() {
m_frameCount = 0;
}
SDEBUG("Monitor Thread exiting");
SDEBUG("{}", "Monitor Thread exiting");
}
void HttpCameraImpl::StreamThreadMain() {
@@ -132,14 +133,14 @@ void HttpCameraImpl::StreamThreadMain() {
SetConnected(true);
// stream
DeviceStream(conn->is, boundary);
DeviceStream(conn->is, boundary.str());
{
std::unique_lock lock(m_mutex);
m_streamConn = nullptr;
}
}
SDEBUG("Camera Thread exiting");
SDEBUG("{}", "Camera Thread exiting");
SetConnected(false);
}
@@ -150,7 +151,7 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
{
std::scoped_lock lock(m_mutex);
if (m_locations.empty()) {
SERROR("locations array is empty!?");
SERROR("{}", "locations array is empty!?");
std::this_thread::sleep_for(std::chrono::seconds(1));
return nullptr;
}
@@ -181,19 +182,17 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
std::string warn;
if (!conn->Handshake(req, &warn)) {
SWARNING(GetName() << ": " << warn);
SWARNING("{}", warn);
std::scoped_lock lock(m_mutex);
m_streamConn = nullptr;
return nullptr;
}
// Parse Content-Type header to get the boundary
wpi::StringRef mediaType, contentType;
std::tie(mediaType, contentType) = conn->contentType.str().split(';');
mediaType = mediaType.trim();
auto [mediaType, contentType] = wpi::split(conn->contentType.str(), ';');
mediaType = wpi::trim(mediaType);
if (mediaType != "multipart/x-mixed-replace") {
SWARNING("\"" << req.host << "\": unrecognized Content-Type \"" << mediaType
<< "\"");
SWARNING("\"{}\": unrecognized Content-Type \"{}\"", req.host, mediaType);
std::scoped_lock lock(m_mutex);
m_streamConn = nullptr;
return nullptr;
@@ -202,14 +201,13 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
// media parameters
boundary.clear();
while (!contentType.empty()) {
wpi::StringRef keyvalue;
std::tie(keyvalue, contentType) = contentType.split(';');
contentType = contentType.ltrim();
wpi::StringRef key, value;
std::tie(key, value) = keyvalue.split('=');
if (key.trim() == "boundary") {
value = value.trim().trim('"'); // value may be quoted
if (value.startswith("--")) {
std::string_view keyvalue;
std::tie(keyvalue, contentType) = wpi::split(contentType, ';');
contentType = wpi::ltrim(contentType);
auto [key, value] = wpi::split(keyvalue, '=');
if (wpi::trim(key) == "boundary") {
value = wpi::trim(wpi::trim(value), '"'); // value may be quoted
if (wpi::starts_with(value, "--")) {
value = value.substr(2);
}
boundary.append(value.begin(), value.end());
@@ -217,8 +215,7 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
}
if (boundary.empty()) {
SWARNING("\"" << req.host
<< "\": empty multi-part boundary or no Content-Type");
SWARNING("\"{}\": empty multi-part boundary or no Content-Type", req.host);
std::scoped_lock lock(m_mutex);
m_streamConn = nullptr;
return nullptr;
@@ -228,7 +225,7 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
}
void HttpCameraImpl::DeviceStream(wpi::raw_istream& is,
wpi::StringRef boundary) {
std::string_view boundary) {
// Stored here so we reuse it from frame to frame
std::string imageBuf;
@@ -275,28 +272,29 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
wpi::SmallString<64> contentTypeBuf;
wpi::SmallString<64> contentLengthBuf;
if (!ParseHttpHeaders(is, &contentTypeBuf, &contentLengthBuf)) {
SWARNING("disconnected during headers");
SWARNING("{}", "disconnected during headers");
PutError("disconnected during headers", wpi::Now());
return false;
}
// Check the content type (if present)
if (!contentTypeBuf.str().empty() &&
!contentTypeBuf.str().startswith("image/jpeg")) {
wpi::SmallString<64> errBuf;
wpi::raw_svector_ostream errMsg{errBuf};
errMsg << "received unknown Content-Type \"" << contentTypeBuf << "\"";
SWARNING(errMsg.str());
PutError(errMsg.str(), wpi::Now());
!wpi::starts_with(contentTypeBuf, "image/jpeg")) {
auto errMsg =
fmt::format("received unknown Content-Type \"{}\"", contentTypeBuf);
SWARNING("{}", errMsg);
PutError(errMsg, wpi::Now());
return false;
}
unsigned int contentLength = 0;
if (contentLengthBuf.str().getAsInteger(10, contentLength)) {
if (auto v = wpi::parse_integer<unsigned int>(contentLengthBuf, 10)) {
contentLength = v.value();
} else {
// Ugh, no Content-Length? Read the blocks of the JPEG file.
int width, height;
if (!ReadJpeg(is, imageBuf, &width, &height)) {
SWARNING("did not receive a JPEG image");
SWARNING("{}", "did not receive a JPEG image");
PutError("did not receive a JPEG image", wpi::Now());
return false;
}
@@ -315,7 +313,7 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
}
int width, height;
if (!GetJpegSize(image->str(), &width, &height)) {
SWARNING("did not receive a JPEG image");
SWARNING("{}", "did not receive a JPEG image");
PutError("did not receive a JPEG image", wpi::Now());
return false;
}
@@ -345,7 +343,7 @@ void HttpCameraImpl::SettingsThreadMain() {
DeviceSendSettings(req);
}
SDEBUG("Settings Thread exiting");
SDEBUG("{}", "Settings Thread exiting");
}
void HttpCameraImpl::DeviceSendSettings(wpi::HttpRequest& req) {
@@ -369,7 +367,7 @@ void HttpCameraImpl::DeviceSendSettings(wpi::HttpRequest& req) {
// Just need a handshake as settings are sent via GET parameters
std::string warn;
if (!conn->Handshake(req, &warn)) {
SWARNING(GetName() << ": " << warn);
SWARNING("{}", warn);
}
conn->stream->close();
@@ -388,7 +386,7 @@ bool HttpCameraImpl::SetUrls(wpi::ArrayRef<std::string> urls,
std::string errorMsg;
locations.emplace_back(url, &error, &errorMsg);
if (error) {
SERROR(GetName() << ": " << errorMsg);
SERROR("{}", errorMsg);
*status = CS_BAD_URL;
return false;
}
@@ -410,8 +408,8 @@ std::vector<std::string> HttpCameraImpl::GetUrls() const {
return urls;
}
void HttpCameraImpl::CreateProperty(const wpi::Twine& name,
const wpi::Twine& httpParam,
void HttpCameraImpl::CreateProperty(std::string_view name,
std::string_view httpParam,
bool viaSettings, CS_PropertyKind kind,
int minimum, int maximum, int step,
int defaultValue, int value) const {
@@ -421,13 +419,12 @@ void HttpCameraImpl::CreateProperty(const wpi::Twine& name,
value));
m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CREATED, name,
m_propertyData.size() + 1, kind, value,
wpi::Twine{});
m_propertyData.size() + 1, kind, value, {});
}
template <typename T>
void HttpCameraImpl::CreateEnumProperty(
const wpi::Twine& name, const wpi::Twine& httpParam, bool viaSettings,
std::string_view name, std::string_view httpParam, bool viaSettings,
int defaultValue, int value, std::initializer_list<T> choices) const {
std::scoped_lock lock(m_mutex);
m_propertyData.emplace_back(std::make_unique<PropertyData>(
@@ -442,14 +439,14 @@ void HttpCameraImpl::CreateEnumProperty(
m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CREATED, name,
m_propertyData.size() + 1, CS_PROP_ENUM,
value, wpi::Twine{});
value, {});
m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CHOICES_UPDATED,
name, m_propertyData.size() + 1, CS_PROP_ENUM,
value, wpi::Twine{});
value, {});
}
std::unique_ptr<PropertyImpl> HttpCameraImpl::CreateEmptyProperty(
const wpi::Twine& name) const {
std::string_view name) const {
return std::make_unique<PropertyData>(name);
}
@@ -474,7 +471,7 @@ void HttpCameraImpl::SetProperty(int property, int value, CS_Status* status) {
// TODO
}
void HttpCameraImpl::SetStringProperty(int property, const wpi::Twine& value,
void HttpCameraImpl::SetStringProperty(int property, std::string_view value,
CS_Status* status) {
// TODO
}
@@ -560,7 +557,7 @@ bool AxisCameraImpl::CacheProperties(CS_Status* status) const {
namespace cs {
CS_Source CreateHttpCamera(const wpi::Twine& name, const wpi::Twine& url,
CS_Source CreateHttpCamera(std::string_view name, std::string_view url,
CS_HttpCameraKind kind, CS_Status* status) {
auto& inst = Instance::GetInstance();
std::shared_ptr<HttpCameraImpl> source;
@@ -574,13 +571,13 @@ CS_Source CreateHttpCamera(const wpi::Twine& name, const wpi::Twine& url,
inst.notifier, inst.telemetry);
break;
}
if (!source->SetUrls(url.str(), status)) {
if (!source->SetUrls(std::string{url}, status)) {
return 0;
}
return inst.CreateSource(CS_SOURCE_HTTP, source);
}
CS_Source CreateHttpCamera(const wpi::Twine& name,
CS_Source CreateHttpCamera(std::string_view name,
wpi::ArrayRef<std::string> urls,
CS_HttpCameraKind kind, CS_Status* status) {
auto& inst = Instance::GetInstance();

26
cscore/src/main/native/cpp/HttpCameraImpl.h
View File

@@ -10,13 +10,13 @@
#include <initializer_list>
#include <memory>
#include <string>
#include <string_view>
#include <thread>
#include <vector>
#include <wpi/HttpUtil.h>
#include <wpi/SmallString.h>
#include <wpi/StringMap.h>
#include <wpi/Twine.h>
#include <wpi/condition_variable.h>
#include <wpi/raw_istream.h>
@@ -27,7 +27,7 @@ namespace cs {
class HttpCameraImpl : public SourceImpl {
public:
HttpCameraImpl(const wpi::Twine& name, CS_HttpCameraKind kind,
HttpCameraImpl(std::string_view name, CS_HttpCameraKind kind,
wpi::Logger& logger, Notifier& notifier, Telemetry& telemetry);
~HttpCameraImpl() override;
@@ -35,7 +35,7 @@ class HttpCameraImpl : public SourceImpl {
// Property functions
void SetProperty(int property, int value, CS_Status* status) override;
void SetStringProperty(int property, const wpi::Twine& value,
void SetStringProperty(int property, std::string_view value,
CS_Status* status) override;
// Standard common camera properties
@@ -61,13 +61,13 @@ class HttpCameraImpl : public SourceImpl {
class PropertyData : public PropertyImpl {
public:
PropertyData() = default;
explicit PropertyData(const wpi::Twine& name_) : PropertyImpl{name_} {}
PropertyData(const wpi::Twine& name_, const wpi::Twine& httpParam_,
explicit PropertyData(std::string_view name_) : PropertyImpl{name_} {}
PropertyData(std::string_view name_, std::string_view httpParam_,
bool viaSettings_, CS_PropertyKind kind_, int minimum_,
int maximum_, int step_, int defaultValue_, int value_)
: PropertyImpl(name_, kind_, step_, defaultValue_, value_),
viaSettings(viaSettings_),
httpParam(httpParam_.str()) {
httpParam(httpParam_) {
hasMinimum = true;
minimum = minimum_;
hasMaximum = true;
@@ -81,16 +81,16 @@ class HttpCameraImpl : public SourceImpl {
protected:
std::unique_ptr<PropertyImpl> CreateEmptyProperty(
const wpi::Twine& name) const override;
std::string_view name) const override;
bool CacheProperties(CS_Status* status) const override;
void CreateProperty(const wpi::Twine& name, const wpi::Twine& httpParam,
void CreateProperty(std::string_view name, std::string_view httpParam,
bool viaSettings, CS_PropertyKind kind, int minimum,
int maximum, int step, int defaultValue, int value) const;
template <typename T>
void CreateEnumProperty(const wpi::Twine& name, const wpi::Twine& httpParam,
void CreateEnumProperty(std::string_view name, std::string_view httpParam,
bool viaSettings, int defaultValue, int value,
std::initializer_list<T> choices) const;
@@ -101,7 +101,7 @@ class HttpCameraImpl : public SourceImpl {
// Functions used by StreamThreadMain()
wpi::HttpConnection* DeviceStreamConnect(
wpi::SmallVectorImpl<char>& boundary);
void DeviceStream(wpi::raw_istream& is, wpi::StringRef boundary);
void DeviceStream(wpi::raw_istream& is, std::string_view boundary);
bool DeviceStreamFrame(wpi::raw_istream& is, std::string& imageBuf);
// The camera settings thread
@@ -146,12 +146,12 @@ class HttpCameraImpl : public SourceImpl {
class AxisCameraImpl : public HttpCameraImpl {
public:
AxisCameraImpl(const wpi::Twine& name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry)
AxisCameraImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry)
: HttpCameraImpl{name, CS_HTTP_AXIS, logger, notifier, telemetry} {}
#if 0
void SetProperty(int property, int value, CS_Status* status) override;
void SetStringProperty(int property, const wpi::Twine& value,
void SetStringProperty(int property, std::string_view value,
CS_Status* status) override;
#endif
protected:

6
cscore/src/main/native/cpp/Image.h
View File

@@ -5,10 +5,10 @@
#ifndef CSCORE_IMAGE_H_
#define CSCORE_IMAGE_H_
#include <string_view>
#include <vector>
#include <opencv2/core/core.hpp>
#include <wpi/StringRef.h>
#include "cscore_cpp.h"
#include "default_init_allocator.h"
@@ -34,8 +34,8 @@ class Image {
Image& operator=(const Image&) = delete;
// Getters
operator wpi::StringRef() const { return str(); } // NOLINT
wpi::StringRef str() const { return wpi::StringRef(data(), size()); }
operator std::string_view() const { return str(); } // NOLINT
std::string_view str() const { return {data(), size()}; }
size_t capacity() const { return m_data.capacity(); }
const char* data() const {
return reinterpret_cast<const char*>(m_data.data());

24
cscore/src/main/native/cpp/Instance.cpp
View File

@@ -4,36 +4,32 @@
#include "Instance.h"
#include <wpi/SmallString.h>
#include <wpi/StringRef.h>
#include <string_view>
#include <fmt/format.h>
#include <wpi/fs.h>
#include <wpi/raw_ostream.h>
using namespace cs;
static void def_log_func(unsigned int level, const char* file,
unsigned int line, const char* msg) {
wpi::SmallString<128> buf;
wpi::raw_svector_ostream oss(buf);
if (level == 20) {
oss << "CS: " << msg << '\n';
wpi::errs() << oss.str();
fmt::print(stderr, "CS: {}\n", msg);
return;
}
wpi::StringRef levelmsg;
std::string_view levelmsg;
if (level >= 50) {
levelmsg = "CRITICAL: ";
levelmsg = "CRITICAL";
} else if (level >= 40) {
levelmsg = "ERROR: ";
levelmsg = "ERROR";
} else if (level >= 30) {
levelmsg = "WARNING: ";
levelmsg = "WARNING";
} else {
return;
}
oss << "CS: " << levelmsg << msg << " (" << fs::path{file}.filename().string()
<< ':' << line << ")\n";
wpi::errs() << oss.str();
fmt::print(stderr, "CS: {}: {} ({}:{})\n", levelmsg, msg,
fs::path{file}.filename().string(), line);
}
Instance::Instance()

17
cscore/src/main/native/cpp/JpegUtil.cpp
View File

@@ -46,20 +46,20 @@ static const unsigned char dhtData[] = {
0xd5, 0xd6, 0xd7, 0xd8, 0xd9, 0xda, 0xe2, 0xe3, 0xe4, 0xe5, 0xe6, 0xe7,
0xe8, 0xe9, 0xea, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8, 0xf9, 0xfa};
bool IsJpeg(wpi::StringRef data) {
bool IsJpeg(std::string_view data) {
if (data.size() < 11) {
return false;
}
// Check for valid SOI
auto bytes = data.bytes_begin();
auto bytes = reinterpret_cast<const unsigned char*>(data.data());
if (bytes[0] != 0xff || bytes[1] != 0xd8) {
return false;
}
return true;
}
bool GetJpegSize(wpi::StringRef data, int* width, int* height) {
bool GetJpegSize(std::string_view data, int* width, int* height) {
if (!IsJpeg(data)) {
return false;
}
@@ -69,7 +69,7 @@ bool GetJpegSize(wpi::StringRef data, int* width, int* height) {
if (data.size() < 4) {
return false; // EOF
}
auto bytes = data.bytes_begin();
auto bytes = reinterpret_cast<const unsigned char*>(data.data());
if (bytes[0] != 0xff) {
return false; // not a tag
}
@@ -94,7 +94,7 @@ bool GetJpegSize(wpi::StringRef data, int* width, int* height) {
}
bool JpegNeedsDHT(const char* data, size_t* size, size_t* locSOF) {
wpi::StringRef sdata(data, *size);
std::string_view sdata(data, *size);
if (!IsJpeg(sdata)) {
return false;
}
@@ -107,7 +107,7 @@ bool JpegNeedsDHT(const char* data, size_t* size, size_t* locSOF) {
if (sdata.size() < 4) {
return false; // EOF
}
auto bytes = sdata.bytes_begin();
auto bytes = reinterpret_cast<const unsigned char*>(sdata.data());
if (bytes[0] != 0xff) {
return false; // not a tag
}
@@ -132,9 +132,8 @@ bool JpegNeedsDHT(const char* data, size_t* size, size_t* locSOF) {
return false;
}
wpi::StringRef JpegGetDHT() {
return wpi::StringRef(reinterpret_cast<const char*>(dhtData),
sizeof(dhtData));
std::string_view JpegGetDHT() {
return {reinterpret_cast<const char*>(dhtData), sizeof(dhtData)};
}
static inline void ReadInto(wpi::raw_istream& is, std::string& buf,

9
cscore/src/main/native/cpp/JpegUtil.h
View File

@@ -6,8 +6,7 @@
#define CSCORE_JPEGUTIL_H_
#include <string>
#include <wpi/StringRef.h>
#include <string_view>
namespace wpi {
class raw_istream;
@@ -15,13 +14,13 @@ class raw_istream;
namespace cs {
bool IsJpeg(wpi::StringRef data);
bool IsJpeg(std::string_view data);
bool GetJpegSize(wpi::StringRef data, int* width, int* height);
bool GetJpegSize(std::string_view data, int* width, int* height);
bool JpegNeedsDHT(const char* data, size_t* size, size_t* locSOF);
wpi::StringRef JpegGetDHT();
std::string_view JpegGetDHT();
bool ReadJpeg(wpi::raw_istream& is, std::string& buf, int* width, int* height);

15
cscore/src/main/native/cpp/Log.cpp Normal file
View File

@@ -0,0 +1,15 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "Log.h"
void cs::NamedLogV(wpi::Logger& logger, unsigned int level, const char* file,
unsigned int line, std::string_view name,
fmt::string_view format, fmt::format_args args) {
fmt::memory_buffer out;
fmt::format_to(out, "{}: ", name);
fmt::vformat_to(out, format, args);
out.push_back('\0');
logger.DoLog(level, file, line, out.data());
}

76
cscore/src/main/native/cpp/Log.h
View File

@@ -5,29 +5,71 @@
#ifndef CSCORE_LOG_H_
#define CSCORE_LOG_H_
#include <string_view>
#include <wpi/Logger.h>
#define LOG(level, x) WPI_LOG(m_logger, level, x)
namespace cs {
void NamedLogV(wpi::Logger& logger, unsigned int level, const char* file,
unsigned int line, std::string_view name,
fmt::string_view format, fmt::format_args args);
template <typename S, typename... Args>
inline void NamedLog(wpi::Logger& logger, unsigned int level, const char* file,
unsigned int line, std::string_view name, const S& format,
Args&&... args) {
if (logger.HasLogger() && level >= logger.min_level()) {
NamedLogV(logger, level, file, line, name, format,
fmt::make_args_checked<Args...>(format, args...));
}
}
} // namespace cs
#define LOG(level, format, ...) WPI_LOG(m_logger, level, format, __VA_ARGS__)
#undef ERROR
#define ERROR(x) WPI_ERROR(m_logger, x)
#define WARNING(x) WPI_WARNING(m_logger, x)
#define INFO(x) WPI_INFO(m_logger, x)
#define ERROR(format, ...) WPI_ERROR(m_logger, format, __VA_ARGS__)
#define WARNING(format, ...) WPI_WARNING(m_logger, format, __VA_ARGS__)
#define INFO(format, ...) WPI_INFO(m_logger, format, __VA_ARGS__)
#define DEBUG0(x) WPI_DEBUG(m_logger, x)
#define DEBUG1(x) WPI_DEBUG1(m_logger, x)
#define DEBUG2(x) WPI_DEBUG2(m_logger, x)
#define DEBUG3(x) WPI_DEBUG3(m_logger, x)
#define DEBUG4(x) WPI_DEBUG4(m_logger, x)
#define DEBUG0(format, ...) WPI_DEBUG(m_logger, format, __VA_ARGS__)
#define DEBUG1(format, ...) WPI_DEBUG1(m_logger, format, __VA_ARGS__)
#define DEBUG2(format, ...) WPI_DEBUG2(m_logger, format, __VA_ARGS__)
#define DEBUG3(format, ...) WPI_DEBUG3(m_logger, format, __VA_ARGS__)
#define DEBUG4(format, ...) WPI_DEBUG4(m_logger, format, __VA_ARGS__)
#define SERROR(x) ERROR(GetName() << ": " << x)
#define SWARNING(x) WARNING(GetName() << ": " << x)
#define SINFO(x) INFO(GetName() << ": " << x)
#define SLOG(level, format, ...) \
NamedLog(m_logger, level, __FILE__, __LINE__, GetName(), FMT_STRING(format), \
__VA_ARGS__)
#define SDEBUG(x) DEBUG0(GetName() << ": " << x)
#define SDEBUG1(x) DEBUG1(GetName() << ": " << x)
#define SDEBUG2(x) DEBUG2(GetName() << ": " << x)
#define SDEBUG3(x) DEBUG3(GetName() << ": " << x)
#define SDEBUG4(x) DEBUG4(GetName() << ": " << x)
#define SERROR(format, ...) SLOG(::wpi::WPI_LOG_ERROR, format, __VA_ARGS__)
#define SWARNING(format, ...) SLOG(::wpi::WPI_LOG_WARNING, format, __VA_ARGS__)
#define SINFO(format, ...) SLOG(::wpi::WPI_LOG_INFO, format, __VA_ARGS__)
#ifdef NDEBUG
#define SDEBUG(format, ...) \
do { \
} while (0)
#define SDEBUG1(format, ...) \
do { \
} while (0)
#define SDEBUG2(format, ...) \
do { \
} while (0)
#define SDEBUG3(format, ...) \
do { \
} while (0)
#define SDEBUG4(format, ...) \
do { \
} while (0)
#else
#define SDEBUG(format, ...) SLOG(::wpi::WPI_LOG_DEBUG, format, __VA_ARGS__)
#define SDEBUG1(format, ...) SLOG(::wpi::WPI_LOG_DEBUG1, format, __VA_ARGS__)
#define SDEBUG2(format, ...) SLOG(::wpi::WPI_LOG_DEBUG2, format, __VA_ARGS__)
#define SDEBUG3(format, ...) SLOG(::wpi::WPI_LOG_DEBUG3, format, __VA_ARGS__)
#define SDEBUG4(format, ...) SLOG(::wpi::WPI_LOG_DEBUG4, format, __VA_ARGS__)
#endif
#endif // CSCORE_LOG_H_

313
cscore/src/main/native/cpp/MjpegServerImpl.cpp
View File

@@ -6,9 +6,12 @@
#include <chrono>
#include <fmt/format.h>
#include <wpi/HttpUtil.h>
#include <wpi/SmallString.h>
#include <wpi/StringExtras.h>
#include <wpi/TCPAcceptor.h>
#include <wpi/fmt/raw_ostream.h>
#include <wpi/raw_socket_istream.h>
#include <wpi/raw_socket_ostream.h>
@@ -72,13 +75,13 @@ static const char* endRootPage = "</div></body></html>";
class MjpegServerImpl::ConnThread : public wpi::SafeThread {
public:
explicit ConnThread(const wpi::Twine& name, wpi::Logger& logger)
: m_name(name.str()), m_logger(logger) {}
explicit ConnThread(std::string_view name, wpi::Logger& logger)
: m_name(name), m_logger(logger) {}
void Main() override;
bool ProcessCommand(wpi::raw_ostream& os, SourceImpl& source,
wpi::StringRef parameters, bool respond);
std::string_view parameters, bool respond);
void SendJSON(wpi::raw_ostream& os, SourceImpl& source, bool header);
void SendHTMLHeadTitle(wpi::raw_ostream& os) const;
void SendHTML(wpi::raw_ostream& os, SourceImpl& source, bool header);
@@ -99,7 +102,7 @@ class MjpegServerImpl::ConnThread : public wpi::SafeThread {
std::string m_name;
wpi::Logger& m_logger;
wpi::StringRef GetName() { return m_name; }
std::string_view GetName() { return m_name; }
std::shared_ptr<SourceImpl> GetSource() {
std::scoped_lock lock(m_mutex);
@@ -130,10 +133,9 @@ class MjpegServerImpl::ConnThread : public wpi::SafeThread {
// Using cached pictures would lead to showing old/outdated pictures.
// Many browsers seem to ignore, or at least not always obey, those headers.
static void SendHeader(wpi::raw_ostream& os, int code,
const wpi::Twine& codeText,
const wpi::Twine& contentType,
const wpi::Twine& extra = wpi::Twine{}) {
os << "HTTP/1.0 " << code << ' ' << codeText << "\r\n";
std::string_view codeText, std::string_view contentType,
std::string_view extra = {}) {
fmt::print(os, "HTTP/1.0 {} {}\r\n", code, codeText);
os << "Connection: close\r\n"
"Server: CameraServer/1.0\r\n"
"Cache-Control: no-store, no-cache, must-revalidate, pre-check=0, "
@@ -142,10 +144,8 @@ static void SendHeader(wpi::raw_ostream& os, int code,
"Expires: Mon, 3 Jan 2000 12:34:56 GMT\r\n";
os << "Content-Type: " << contentType << "\r\n";
os << "Access-Control-Allow-Origin: *\r\nAccess-Control-Allow-Methods: *\r\n";
wpi::SmallString<128> extraBuf;
wpi::StringRef extraStr = extra.toStringRef(extraBuf);
if (!extraStr.empty()) {
os << extraStr << "\r\n";
if (!extra.empty()) {
os << extra << "\r\n";
}
os << "\r\n"; // header ends with a blank line
}
@@ -154,8 +154,8 @@ static void SendHeader(wpi::raw_ostream& os, int code,
// @param code HTTP error code (e.g. 404)
// @param message Additional message text
static void SendError(wpi::raw_ostream& os, int code,
const wpi::Twine& message) {
wpi::StringRef codeText, extra, baseMessage;
std::string_view message) {
std::string_view codeText, extra, baseMessage;
switch (code) {
case 401:
codeText = "Unauthorized";
@@ -195,66 +195,61 @@ static void SendError(wpi::raw_ostream& os, int code,
// Perform a command specified by HTTP GET parameters.
bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::raw_ostream& os,
SourceImpl& source,
wpi::StringRef parameters,
std::string_view parameters,
bool respond) {
wpi::SmallString<256> responseBuf;
wpi::raw_svector_ostream response{responseBuf};
// command format: param1=value1&param2=value2...
while (!parameters.empty()) {
// split out next param and value
wpi::StringRef rawParam, rawValue;
std::tie(rawParam, parameters) = parameters.split('&');
std::string_view rawParam, rawValue;
std::tie(rawParam, parameters) = wpi::split(parameters, '&');
if (rawParam.empty()) {
continue; // ignore "&&"
}
std::tie(rawParam, rawValue) = rawParam.split('=');
std::tie(rawParam, rawValue) = wpi::split(rawParam, '=');
if (rawParam.empty() || rawValue.empty()) {
continue; // ignore "param="
}
SDEBUG4("HTTP parameter \"" << rawParam << "\" value \"" << rawValue
<< "\"");
SDEBUG4("HTTP parameter \"{}\" value \"{}\"", rawParam, rawValue);
// unescape param
bool error = false;
wpi::SmallString<64> paramBuf;
wpi::StringRef param = wpi::UnescapeURI(rawParam, paramBuf, &error);
std::string_view param = wpi::UnescapeURI(rawParam, paramBuf, &error);
if (error) {
wpi::SmallString<128> error;
wpi::raw_svector_ostream oss{error};
oss << "could not unescape parameter \"" << rawParam << "\"";
SendError(os, 500, error.str());
SDEBUG(error.str());
auto estr = fmt::format("could not unescape parameter \"{}\"", rawParam);
SendError(os, 500, estr);
SDEBUG("{}", estr);
return false;
}
// unescape value
wpi::SmallString<64> valueBuf;
wpi::StringRef value = wpi::UnescapeURI(rawValue, valueBuf, &error);
std::string_view value = wpi::UnescapeURI(rawValue, valueBuf, &error);
if (error) {
wpi::SmallString<128> error;
wpi::raw_svector_ostream oss{error};
oss << "could not unescape value \"" << rawValue << "\"";
SendError(os, 500, error.str());
SDEBUG(error.str());
auto estr = fmt::format("could not unescape value \"{}\"", rawValue);
SendError(os, 500, estr);
SDEBUG("{}", estr);
return false;
}
// Handle resolution, compression, and FPS. These are handled locally
// rather than passed to the source.
if (param == "resolution") {
wpi::StringRef widthStr, heightStr;
std::tie(widthStr, heightStr) = value.split('x');
int width, height;
if (widthStr.getAsInteger(10, width)) {
auto [widthStr, heightStr] = wpi::split(value, 'x');
int width = wpi::parse_integer<int>(widthStr, 10).value_or(-1);
int height = wpi::parse_integer<int>(heightStr, 10).value_or(-1);
if (width < 0) {
response << param << ": \"width is not an integer\"\r\n";
SWARNING("HTTP parameter \"" << param << "\" width \"" << widthStr
<< "\" is not an integer");
SWARNING("HTTP parameter \"{}\" width \"{}\" is not an integer", param,
widthStr);
continue;
}
if (heightStr.getAsInteger(10, height)) {
if (height < 0) {
response << param << ": \"height is not an integer\"\r\n";
SWARNING("HTTP parameter \"" << param << "\" height \"" << heightStr
<< "\" is not an integer");
SWARNING("HTTP parameter \"{}\" height \"{}\" is not an integer", param,
heightStr);
continue;
}
m_width = width;
@@ -264,29 +259,25 @@ bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::raw_ostream& os,
}
if (param == "fps") {
int fps;
if (value.getAsInteger(10, fps)) {
response << param << ": \"invalid integer\"\r\n";
SWARNING("HTTP parameter \"" << param << "\" value \"" << value
<< "\" is not an integer");
continue;
} else {
m_fps = fps;
if (auto v = wpi::parse_integer<int>(value, 10)) {
m_fps = v.value();
response << param << ": \"ok\"\r\n";
} else {
response << param << ": \"invalid integer\"\r\n";
SWARNING("HTTP parameter \"{}\" value \"{}\" is not an integer", param,
value);
}
continue;
}
if (param == "compression") {
int compression;
if (value.getAsInteger(10, compression)) {
response << param << ": \"invalid integer\"\r\n";
SWARNING("HTTP parameter \"" << param << "\" value \"" << value
<< "\" is not an integer");
continue;
} else {
m_compression = compression;
if (auto v = wpi::parse_integer<int>(value, 10)) {
m_compression = v.value();
response << param << ": \"ok\"\r\n";
} else {
response << param << ": \"invalid integer\"\r\n";
SWARNING("HTTP parameter \"{}\" value \"{}\" is not an integer", param,
value);
}
continue;
}
@@ -300,7 +291,7 @@ bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::raw_ostream& os,
auto prop = source.GetPropertyIndex(param);
if (!prop) {
response << param << ": \"ignored\"\r\n";
SWARNING("ignoring HTTP parameter \"" << param << "\"");
SWARNING("ignoring HTTP parameter \"{}\"", param);
continue;
}
@@ -310,21 +301,20 @@ bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::raw_ostream& os,
case CS_PROP_BOOLEAN:
case CS_PROP_INTEGER:
case CS_PROP_ENUM: {
int val = 0;
if (value.getAsInteger(10, val)) {
response << param << ": \"invalid integer\"\r\n";
SWARNING("HTTP parameter \"" << param << "\" value \"" << value
<< "\" is not an integer");
if (auto v = wpi::parse_integer<int>(value, 10)) {
fmt::print(response, "{}: {}\r\n", param, v.value());
SDEBUG4("HTTP parameter \"{}\" value {}", param, value);
source.SetProperty(prop, v.value(), &status);
} else {
response << param << ": " << val << "\r\n";
SDEBUG4("HTTP parameter \"" << param << "\" value " << value);
source.SetProperty(prop, val, &status);
response << param << ": \"invalid integer\"\r\n";
SWARNING("HTTP parameter \"{}\" value \"{}\" is not an integer",
param, value);
}
break;
}
case CS_PROP_STRING: {
response << param << ": \"ok\"\r\n";
SDEBUG4("HTTP parameter \"" << param << "\" value \"" << value << "\"");
SDEBUG4("HTTP parameter \"{}\" value \"{}\"", param, value);
source.SetStringProperty(prop, value, &status);
break;
}
@@ -362,17 +352,17 @@ void MjpegServerImpl::ConnThread::SendHTML(wpi::raw_ostream& os,
for (auto prop : source.EnumerateProperties(properties_vec, &status)) {
wpi::SmallString<128> name_buf;
auto name = source.GetPropertyName(prop, name_buf, &status);
if (name.startswith("raw_")) {
if (wpi::starts_with(name, "raw_")) {
continue;
}
auto kind = source.GetPropertyKind(prop);
os << "<p />"
<< "<label for=\"" << name << "\">" << name << "</label>\n";
fmt::print(os, "<p /><label for=\"{0}\">{0}</label>\n", name);
switch (kind) {
case CS_PROP_BOOLEAN:
os << "<input id=\"" << name
<< "\" type=\"checkbox\" onclick=\"update('" << name
<< "', this.checked ? 1 : 0)\" ";
fmt::print(os,
"<input id=\"{0}\" type=\"checkbox\" "
"onclick=\"update('{0}', this.checked ? 1 : 0)\" ",
name);
if (source.GetProperty(prop, &status) != 0) {
os << "checked />\n";
} else {
@@ -384,12 +374,13 @@ void MjpegServerImpl::ConnThread::SendHTML(wpi::raw_ostream& os,
auto min = source.GetPropertyMin(prop, &status);
auto max = source.GetPropertyMax(prop, &status);
auto step = source.GetPropertyStep(prop, &status);
os << "<input type=\"range\" min=\"" << min << "\" max=\"" << max
<< "\" value=\"" << valI << "\" id=\"" << name << "\" step=\""
<< step << "\" oninput=\"updateInt('#" << name << "op', '" << name
<< "', value)\" />\n";
os << "<output for=\"" << name << "\" id=\"" << name << "op\">" << valI
<< "</output>\n";
fmt::print(os,
"<input type=\"range\" min=\"{1}\" max=\"{2}\" "
"value=\"{3}\" id=\"{0}\" step=\"{4}\" "
"oninput=\"updateInt('#{0}op', '{0}', value)\" />\n",
name, min, max, valI, step);
fmt::print(os, "<output for=\"{0}\" id=\"{0}op\">{1}</output>\n", name,
valI);
break;
}
case CS_PROP_ENUM: {
@@ -404,26 +395,30 @@ void MjpegServerImpl::ConnThread::SendHTML(wpi::raw_ostream& os,
// replace any non-printable characters in name with spaces
wpi::SmallString<128> ch_name;
for (char ch : *choice) {
ch_name.push_back(std::isprint(ch) ? ch : ' ');
ch_name.push_back(wpi::isPrint(ch) ? ch : ' ');
}
os << "<input id=\"" << name << j << "\" type=\"radio\" name=\""
<< name << "\" value=\"" << ch_name << "\" onclick=\"update('"
<< name << "', " << j << ")\"";
fmt::print(os,
"<input id=\"{0}{1}\" type=\"radio\" name=\"{0}\" "
"value=\"{2}\" onclick=\"update('{0}', {1})\"",
name, j, ch_name);
if (j == valE) {
os << " checked";
}
os << " /><label for=\"" << name << j << "\">" << ch_name
<< "</label>\n";
fmt::print(os, " /><label for=\"{}{}\">{}</label>\n", name, j,
ch_name);
}
break;
}
case CS_PROP_STRING: {
wpi::SmallString<128> strval_buf;
os << "<input type=\"text\" id=\"" << name << "box\" name=\"" << name
<< "\" value=\""
<< source.GetStringProperty(prop, strval_buf, &status) << "\" />\n";
os << "<input type=\"button\" value =\"Submit\" onclick=\"update('"
<< name << "', " << name << "box.value)\" />\n";
fmt::print(os,
"<input type=\"text\" id=\"{0}box\" name=\"{0}\" "
"value=\"{1}\" />\n",
name, source.GetStringProperty(prop, strval_buf, &status));
fmt::print(os,
"<input type=\"button\" value =\"Submit\" "
"onclick=\"update('{0}', {0}box.value)\" />\n",
name);
break;
}
default:
@@ -469,10 +464,8 @@ void MjpegServerImpl::ConnThread::SendHTML(wpi::raw_ostream& os,
os << "unknown";
break;
}
os << "</td><td>" << mode.width;
os << "</td><td>" << mode.height;
os << "</td><td>" << mode.fps;
os << "</td></tr>";
fmt::print(os, "</td><td>{}</td><td>{}</td><td>{}</td></tr>", mode.width,
mode.height, mode.fps);
}
os << "</table>\n";
os << endRootPage << "\r\n";
@@ -500,20 +493,21 @@ void MjpegServerImpl::ConnThread::SendJSON(wpi::raw_ostream& os,
wpi::SmallString<128> name_buf;
auto name = source.GetPropertyName(prop, name_buf, &status);
auto kind = source.GetPropertyKind(prop);
os << "\n\"name\": \"" << name << '"';
os << ",\n\"id\": \"" << prop << '"';
os << ",\n\"type\": \"" << kind << '"';
os << ",\n\"min\": \"" << source.GetPropertyMin(prop, &status) << '"';
os << ",\n\"max\": \"" << source.GetPropertyMax(prop, &status) << '"';
os << ",\n\"step\": \"" << source.GetPropertyStep(prop, &status) << '"';
os << ",\n\"default\": \"" << source.GetPropertyDefault(prop, &status)
<< '"';
fmt::print(os, "\n\"name\": \"{}\"", name);
fmt::print(os, ",\n\"id\": \"{}\"", prop);
fmt::print(os, ",\n\"type\": \"{}\"", kind);
fmt::print(os, ",\n\"min\": \"{}\"", source.GetPropertyMin(prop, &status));
fmt::print(os, ",\n\"max\": \"{}\"", source.GetPropertyMax(prop, &status));
fmt::print(os, ",\n\"step\": \"{}\"",
source.GetPropertyStep(prop, &status));
fmt::print(os, ",\n\"default\": \"{}\"",
source.GetPropertyDefault(prop, &status));
os << ",\n\"value\": \"";
switch (kind) {
case CS_PROP_BOOLEAN:
case CS_PROP_INTEGER:
case CS_PROP_ENUM:
os << source.GetProperty(prop, &status);
fmt::print(os, "{}", source.GetProperty(prop, &status));
break;
case CS_PROP_STRING: {
wpi::SmallString<128> strval_buf;
@@ -543,7 +537,7 @@ void MjpegServerImpl::ConnThread::SendJSON(wpi::raw_ostream& os,
for (char ch : *choice) {
ch_name.push_back(std::isprint(ch) ? ch : ' ');
}
os << '"' << j << "\": \"" << ch_name << '"';
fmt::print(os, "\"{}\": \"{}\"", j, ch_name);
}
os << "}\n";
}
@@ -579,29 +573,26 @@ void MjpegServerImpl::ConnThread::SendJSON(wpi::raw_ostream& os,
os << "unknown";
break;
}
os << "\",\n\"width\": \"" << mode.width << '"';
os << ",\n\"height\": \"" << mode.height << '"';
os << ",\n\"fps\": \"" << mode.fps << '"';
fmt::print(os, "\",\n\"width\": \"{}\"", mode.width);
fmt::print(os, ",\n\"height\": \"{}\"", mode.height);
fmt::print(os, ",\n\"fps\": \"{}\"", mode.fps);
os << '}';
}
os << "\n]\n}\n";
os.flush();
}
MjpegServerImpl::MjpegServerImpl(const wpi::Twine& name, wpi::Logger& logger,
MjpegServerImpl::MjpegServerImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
const wpi::Twine& listenAddress, int port,
std::string_view listenAddress, int port,
std::unique_ptr<wpi::NetworkAcceptor> acceptor)
: SinkImpl{name, logger, notifier, telemetry},
m_listenAddress(listenAddress.str()),
m_listenAddress(listenAddress),
m_port(port),
m_acceptor{std::move(acceptor)} {
m_active = true;
wpi::SmallString<128> descBuf;
wpi::raw_svector_ostream desc{descBuf};
desc << "HTTP Server on port " << port;
SetDescription(desc.str());
SetDescription(fmt::format("HTTP Server on port {}", port));
// Create properties
m_widthProp = CreateProperty("width", [] {
@@ -659,7 +650,7 @@ void MjpegServerImpl::Stop() {
// Send HTTP response and a stream of JPG-frames
void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
if (m_noStreaming) {
SERROR("Too many simultaneous client streams");
SERROR("{}", "Too many simultaneous client streams");
SendError(os, 503, "Too many simultaneous streams");
return;
}
@@ -672,7 +663,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
SendHeader(oss, 200, "OK", "multipart/x-mixed-replace;boundary=" BOUNDARY);
os << oss.str();
SDEBUG("Headers send, sending stream now");
SDEBUG("{}", "Headers send, sending stream now");
Frame::Time lastFrameTime = 0;
Frame::Time timePerFrame = 0;
@@ -694,7 +685,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
std::this_thread::sleep_for(std::chrono::milliseconds(200));
continue;
}
SDEBUG4("waiting for frame");
SDEBUG4("{}", "waiting for frame");
Frame frame = source->GetNextFrame(0.225); // blocks
if (!m_active) {
break;
@@ -757,7 +748,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
continue;
}
SDEBUG4("sending frame size=" << size << " addDHT=" << addDHT);
SDEBUG4("sending frame size={} addDHT={}", size, addDHT);
// print the individual mimetype and the length
// sending the content-length fixes random stream disruption observed
@@ -766,18 +757,18 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
double timestamp = lastFrameTime / 1000000.0;
header.clear();
oss << "\r\n--" BOUNDARY "\r\n"
<< "Content-Type: image/jpeg\r\n"
<< "Content-Length: " << size << "\r\n"
<< "X-Timestamp: " << timestamp << "\r\n"
<< "\r\n";
<< "Content-Type: image/jpeg\r\n";
fmt::print(oss, "Content-Length: {}\r\n", size);
fmt::print(oss, "X-Timestamp: {}\r\n", timestamp);
oss << "\r\n";
os << oss.str();
if (addDHT) {
// Insert DHT data immediately before SOF
os << wpi::StringRef(data, locSOF);
os << std::string_view(data, locSOF);
os << JpegGetDHT();
os << wpi::StringRef(data + locSOF, image->size() - locSOF);
os << std::string_view(data + locSOF, image->size() - locSOF);
} else {
os << wpi::StringRef(data, size);
os << std::string_view(data, size);
}
// os.flush();
}
@@ -790,48 +781,50 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
// Read the request string from the stream
wpi::SmallString<128> reqBuf;
wpi::StringRef req = is.getline(reqBuf, 4096);
std::string_view req = is.getline(reqBuf, 4096);
if (is.has_error()) {
SDEBUG("error getting request string");
SDEBUG("{}", "error getting request string");
return;
}
enum { kCommand, kStream, kGetSettings, kGetSourceConfig, kRootPage } kind;
wpi::StringRef parameters;
std::string_view parameters;
size_t pos;
SDEBUG("HTTP request: '" << req << "'\n");
SDEBUG("HTTP request: '{}'\n", req);
// Determine request kind. Most of these are for mjpgstreamer
// compatibility, others are for Axis camera compatibility.
if ((pos = req.find("POST /stream")) != wpi::StringRef::npos) {
if ((pos = req.find("POST /stream")) != std::string_view::npos) {
kind = kStream;
parameters = req.substr(req.find('?', pos + 12)).substr(1);
} else if ((pos = req.find("GET /?action=stream")) != wpi::StringRef::npos) {
} else if ((pos = req.find("GET /?action=stream")) !=
std::string_view::npos) {
kind = kStream;
parameters = req.substr(req.find('&', pos + 19)).substr(1);
} else if ((pos = req.find("GET /stream.mjpg")) != wpi::StringRef::npos) {
} else if ((pos = req.find("GET /stream.mjpg")) != std::string_view::npos) {
kind = kStream;
parameters = req.substr(req.find('?', pos + 16)).substr(1);
} else if (req.find("GET /settings") != wpi::StringRef::npos &&
req.find(".json") != wpi::StringRef::npos) {
} else if (req.find("GET /settings") != std::string_view::npos &&
req.find(".json") != std::string_view::npos) {
kind = kGetSettings;
} else if (req.find("GET /config") != wpi::StringRef::npos &&
req.find(".json") != wpi::StringRef::npos) {
} else if (req.find("GET /config") != std::string_view::npos &&
req.find(".json") != std::string_view::npos) {
kind = kGetSourceConfig;
} else if (req.find("GET /input") != wpi::StringRef::npos &&
req.find(".json") != wpi::StringRef::npos) {
} else if (req.find("GET /input") != std::string_view::npos &&
req.find(".json") != std::string_view::npos) {
kind = kGetSettings;
} else if (req.find("GET /output") != wpi::StringRef::npos &&
req.find(".json") != wpi::StringRef::npos) {
} else if (req.find("GET /output") != std::string_view::npos &&
req.find(".json") != std::string_view::npos) {
kind = kGetSettings;
} else if ((pos = req.find("GET /?action=command")) != wpi::StringRef::npos) {
} else if ((pos = req.find("GET /?action=command")) !=
std::string_view::npos) {
kind = kCommand;
parameters = req.substr(req.find('&', pos + 20)).substr(1);
} else if (req.find("GET / ") != wpi::StringRef::npos || req == "GET /\n") {
} else if (req.find("GET / ") != std::string_view::npos || req == "GET /\n") {
kind = kRootPage;
} else {
SDEBUG("HTTP request resource not found");
SDEBUG("{}", "HTTP request resource not found");
SendError(os, 404, "Resource not found");
return;
}
@@ -841,13 +834,13 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
"abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ_"
"-=&1234567890%./");
parameters = parameters.substr(0, pos);
SDEBUG("command parameters: \"" << parameters << "\"");
SDEBUG("command parameters: \"{}\"", parameters);
// Read the rest of the HTTP request.
// The end of the request is marked by a single, empty line
wpi::SmallString<128> lineBuf;
for (;;) {
if (is.getline(lineBuf, 4096).startswith("\n")) {
if (wpi::starts_with(is.getline(lineBuf, 4096), "\n")) {
break;
}
if (is.has_error()) {
@@ -859,7 +852,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
switch (kind) {
case kStream:
if (auto source = GetSource()) {
SDEBUG("request for stream " << source->GetName());
SDEBUG("request for stream {}", source->GetName());
if (!ProcessCommand(os, *source, parameters, false)) {
return;
}
@@ -873,11 +866,11 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
SendHeader(os, 200, "OK", "text/plain");
os << "Ignored due to no connected source."
<< "\r\n";
SDEBUG("Ignored due to no connected source.");
SDEBUG("{}", "Ignored due to no connected source.");
}
break;
case kGetSettings:
SDEBUG("request for JSON file");
SDEBUG("{}", "request for JSON file");
if (auto source = GetSource()) {
SendJSON(os, *source, true);
} else {
@@ -885,7 +878,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
}
break;
case kGetSourceConfig:
SDEBUG("request for JSON file");
SDEBUG("{}", "request for JSON file");
if (auto source = GetSource()) {
SendHeader(os, 200, "OK", "application/json");
CS_Status status = CS_OK;
@@ -896,7 +889,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
}
break;
case kRootPage:
SDEBUG("request for root page");
SDEBUG("{}", "request for root page");
SendHeader(os, 200, "OK", "text/html");
if (auto source = GetSource()) {
SendHTML(os, *source, false);
@@ -907,7 +900,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
break;
}
SDEBUG("leaving HTTP client thread");
SDEBUG("{}", "leaving HTTP client thread");
}
// worker thread for clients that connected to this server
@@ -934,7 +927,7 @@ void MjpegServerImpl::ServerThreadMain() {
return;
}
SDEBUG("waiting for clients to connect");
SDEBUG("{}", "waiting for clients to connect");
while (m_active) {
auto stream = m_acceptor->accept();
if (!stream) {
@@ -945,7 +938,7 @@ void MjpegServerImpl::ServerThreadMain() {
return;
}
SDEBUG("client connection from " << stream->getPeerIP());
SDEBUG("client connection from {}", stream->getPeerIP());
auto source = GetSource();
@@ -984,7 +977,7 @@ void MjpegServerImpl::ServerThreadMain() {
thr->m_cond.notify_one();
}
SDEBUG("leaving server thread");
SDEBUG("{}", "leaving server thread");
}
void MjpegServerImpl::SetSourceImpl(std::shared_ptr<SourceImpl> source) {
@@ -1007,19 +1000,15 @@ void MjpegServerImpl::SetSourceImpl(std::shared_ptr<SourceImpl> source) {
namespace cs {
CS_Sink CreateMjpegServer(const wpi::Twine& name,
const wpi::Twine& listenAddress, int port,
CS_Status* status) {
CS_Sink CreateMjpegServer(std::string_view name, std::string_view listenAddress,
int port, CS_Status* status) {
auto& inst = Instance::GetInstance();
wpi::SmallString<128> listenAddressBuf;
return inst.CreateSink(
CS_SINK_MJPEG,
std::make_shared<MjpegServerImpl>(
name, inst.logger, inst.notifier, inst.telemetry, listenAddress, port,
std::unique_ptr<wpi::NetworkAcceptor>(new wpi::TCPAcceptor(
port,
listenAddress.toNullTerminatedStringRef(listenAddressBuf).data(),
inst.logger))));
std::unique_ptr<wpi::NetworkAcceptor>(
new wpi::TCPAcceptor(port, listenAddress, inst.logger))));
}
std::string GetMjpegServerListenAddress(CS_Sink sink, CS_Status* status) {

6
cscore/src/main/native/cpp/MjpegServerImpl.h
View File

@@ -8,6 +8,7 @@
#include <atomic>
#include <memory>
#include <string>
#include <string_view>
#include <thread>
#include <vector>
@@ -15,7 +16,6 @@
#include <wpi/NetworkStream.h>
#include <wpi/SafeThread.h>
#include <wpi/SmallVector.h>
#include <wpi/Twine.h>
#include <wpi/raw_istream.h>
#include <wpi/raw_ostream.h>
#include <wpi/raw_socket_ostream.h>
@@ -28,9 +28,9 @@ class SourceImpl;
class MjpegServerImpl : public SinkImpl {
public:
MjpegServerImpl(const wpi::Twine& name, wpi::Logger& logger,
MjpegServerImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
const wpi::Twine& listenAddress, int port,
std::string_view listenAddress, int port,
std::unique_ptr<wpi::NetworkAcceptor> acceptor);
~MjpegServerImpl() override;

16
cscore/src/main/native/cpp/Notifier.cpp
View File

@@ -32,7 +32,7 @@ unsigned int Notifier::AddPolled(unsigned int pollerUid, int eventMask) {
return DoAdd(pollerUid, eventMask);
}
void Notifier::NotifySource(const wpi::Twine& name, CS_Source source,
void Notifier::NotifySource(std::string_view name, CS_Source source,
CS_EventKind kind) {
Send(UINT_MAX, name, source, static_cast<RawEvent::Kind>(kind));
}
@@ -49,9 +49,9 @@ void Notifier::NotifySourceVideoMode(const SourceImpl& source,
}
void Notifier::NotifySourceProperty(const SourceImpl& source, CS_EventKind kind,
const wpi::Twine& propertyName,
int property, CS_PropertyKind propertyKind,
int value, const wpi::Twine& valueStr) {
std::string_view propertyName, int property,
CS_PropertyKind propertyKind, int value,
std::string_view valueStr) {
auto handleData = Instance::GetInstance().FindSource(source);
Send(UINT_MAX, propertyName, handleData.first,
static_cast<RawEvent::Kind>(kind),
@@ -59,7 +59,7 @@ void Notifier::NotifySourceProperty(const SourceImpl& source, CS_EventKind kind,
value, valueStr);
}
void Notifier::NotifySink(const wpi::Twine& name, CS_Sink sink,
void Notifier::NotifySink(std::string_view name, CS_Sink sink,
CS_EventKind kind) {
Send(UINT_MAX, name, sink, static_cast<RawEvent::Kind>(kind));
}
@@ -69,7 +69,7 @@ void Notifier::NotifySink(const SinkImpl& sink, CS_EventKind kind) {
NotifySink(sink.GetName(), handleData.first, kind);
}
void Notifier::NotifySinkSourceChanged(const wpi::Twine& name, CS_Sink sink,
void Notifier::NotifySinkSourceChanged(std::string_view name, CS_Sink sink,
CS_Source source) {
RawEvent event{name, sink, RawEvent::kSinkSourceChanged};
event.sourceHandle = source;
@@ -77,9 +77,9 @@ void Notifier::NotifySinkSourceChanged(const wpi::Twine& name, CS_Sink sink,
}
void Notifier::NotifySinkProperty(const SinkImpl& sink, CS_EventKind kind,
const wpi::Twine& propertyName, int property,
std::string_view propertyName, int property,
CS_PropertyKind propertyKind, int value,
const wpi::Twine& valueStr) {
std::string_view valueStr) {
auto handleData = Instance::GetInstance().FindSink(sink);
Send(UINT_MAX, propertyName, handleData.first,
static_cast<RawEvent::Kind>(kind),

15
cscore/src/main/native/cpp/Notifier.h
View File

@@ -65,22 +65,21 @@ class Notifier : public wpi::CallbackManager<Notifier, impl::NotifierThread> {
unsigned int AddPolled(unsigned int pollerUid, int eventMask);
// Notification events
void NotifySource(const wpi::Twine& name, CS_Source source,
CS_EventKind kind);
void NotifySource(std::string_view name, CS_Source source, CS_EventKind kind);
void NotifySource(const SourceImpl& source, CS_EventKind kind);
void NotifySourceVideoMode(const SourceImpl& source, const VideoMode& mode);
void NotifySourceProperty(const SourceImpl& source, CS_EventKind kind,
const wpi::Twine& propertyName, int property,
std::string_view propertyName, int property,
CS_PropertyKind propertyKind, int value,
const wpi::Twine& valueStr);
void NotifySink(const wpi::Twine& name, CS_Sink sink, CS_EventKind kind);
std::string_view valueStr);
void NotifySink(std::string_view name, CS_Sink sink, CS_EventKind kind);
void NotifySink(const SinkImpl& sink, CS_EventKind kind);
void NotifySinkSourceChanged(const wpi::Twine& name, CS_Sink sink,
void NotifySinkSourceChanged(std::string_view name, CS_Sink sink,
CS_Source source);
void NotifySinkProperty(const SinkImpl& sink, CS_EventKind kind,
const wpi::Twine& propertyName, int property,
std::string_view propertyName, int property,
CS_PropertyKind propertyKind, int value,
const wpi::Twine& valueStr);
std::string_view valueStr);
void NotifyNetworkInterfacesChanged();
void NotifyTelemetryUpdated();
void NotifyUsbCamerasChanged();

40
cscore/src/main/native/cpp/PropertyContainer.cpp
View File

@@ -11,15 +11,14 @@
using namespace cs;
int PropertyContainer::GetPropertyIndex(const wpi::Twine& name) const {
int PropertyContainer::GetPropertyIndex(std::string_view name) const {
// We can't fail, so instead we create a new index if caching fails.
CS_Status status = 0;
if (!m_properties_cached) {
CacheProperties(&status);
}
std::scoped_lock lock(m_mutex);
wpi::SmallVector<char, 64> nameBuf;
int& ndx = m_properties[name.toStringRef(nameBuf)];
int& ndx = m_properties[name];
if (ndx == 0) {
// create a new index
ndx = m_propertyData.size() + 1;
@@ -55,7 +54,7 @@ CS_PropertyKind PropertyContainer::GetPropertyKind(int property) const {
return prop->propKind;
}
wpi::StringRef PropertyContainer::GetPropertyName(
std::string_view PropertyContainer::GetPropertyName(
int property, wpi::SmallVectorImpl<char>& buf, CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status)) {
return {};
@@ -108,7 +107,7 @@ void PropertyContainer::SetProperty(int property, int value,
return;
}
UpdatePropertyValue(property, false, value, wpi::Twine{});
UpdatePropertyValue(property, false, value, {});
}
int PropertyContainer::GetPropertyMin(int property, CS_Status* status) const {
@@ -164,7 +163,7 @@ int PropertyContainer::GetPropertyDefault(int property,
return prop->defaultValue;
}
wpi::StringRef PropertyContainer::GetStringProperty(
std::string_view PropertyContainer::GetStringProperty(
int property, wpi::SmallVectorImpl<char>& buf, CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status)) {
return {};
@@ -181,10 +180,10 @@ wpi::StringRef PropertyContainer::GetStringProperty(
}
buf.clear();
buf.append(prop->valueStr.begin(), prop->valueStr.end());
return wpi::StringRef(buf.data(), buf.size());
return {buf.data(), buf.size()};
}
void PropertyContainer::SetStringProperty(int property, const wpi::Twine& value,
void PropertyContainer::SetStringProperty(int property, std::string_view value,
CS_Status* status) {
std::scoped_lock lock(m_mutex);
auto prop = GetProperty(property);
@@ -225,7 +224,7 @@ std::vector<std::string> PropertyContainer::GetEnumPropertyChoices(
}
std::unique_ptr<PropertyImpl> PropertyContainer::CreateEmptyProperty(
const wpi::Twine& name) const {
std::string_view name) const {
return std::make_unique<PropertyImpl>(name);
}
@@ -237,16 +236,15 @@ bool PropertyContainer::CacheProperties(CS_Status* status) const {
bool PropertyContainer::SetPropertiesJson(const wpi::json& config,
wpi::Logger& logger,
wpi::StringRef logName,
std::string_view logName,
CS_Status* status) {
for (auto&& prop : config) {
std::string name;
try {
name = prop.at("name").get<std::string>();
} catch (const wpi::json::exception& e) {
WPI_WARNING(logger,
logName << ": SetConfigJson: could not read property name: "
<< e.what());
WPI_WARNING(logger, "{}: SetConfigJson: could not read property name: {}",
logName, e.what());
continue;
}
int n = GetPropertyIndex(name);
@@ -254,24 +252,24 @@ bool PropertyContainer::SetPropertiesJson(const wpi::json& config,
auto& v = prop.at("value");
if (v.is_string()) {
std::string val = v.get<std::string>();
WPI_INFO(logger, logName << ": SetConfigJson: setting property '"
<< name << "' to '" << val << '\'');
WPI_INFO(logger, "{}: SetConfigJson: setting property '{}' to '{}'",
logName, name, val);
SetStringProperty(n, val, status);
} else if (v.is_boolean()) {
bool val = v.get<bool>();
WPI_INFO(logger, logName << ": SetConfigJson: setting property '"
<< name << "' to " << val);
WPI_INFO(logger, "{}: SetConfigJson: setting property '{}' to {}",
logName, name, val);
SetProperty(n, val, status);
} else {
int val = v.get<int>();
WPI_INFO(logger, logName << ": SetConfigJson: setting property '"
<< name << "' to " << val);
WPI_INFO(logger, "{}: SetConfigJson: setting property '{}' to {}",
logName, name, val);
SetProperty(n, val, status);
}
} catch (const wpi::json::exception& e) {
WPI_WARNING(logger,
logName << ": SetConfigJson: could not read property value: "
<< e.what());
"{}: SetConfigJson: could not read property value: {}",
logName, e.what());
continue;
}
}

34
cscore/src/main/native/cpp/PropertyContainer.h
View File

@@ -9,13 +9,11 @@
#include <cstddef>
#include <memory>
#include <string>
#include <string_view>
#include <vector>
#include <wpi/ArrayRef.h>
#include <wpi/SmallVector.h>
#include <wpi/StringMap.h>
#include <wpi/StringRef.h>
#include <wpi/Twine.h>
#include <wpi/mutex.h>
#include "PropertyImpl.h"
@@ -23,6 +21,8 @@
namespace wpi {
class Logger;
template <typename T>
class SmallVectorImpl;
class json;
} // namespace wpi
@@ -32,28 +32,29 @@ class PropertyContainer {
public:
virtual ~PropertyContainer() = default;
int GetPropertyIndex(const wpi::Twine& name) const;
int GetPropertyIndex(std::string_view name) const;
wpi::ArrayRef<int> EnumerateProperties(wpi::SmallVectorImpl<int>& vec,
CS_Status* status) const;
CS_PropertyKind GetPropertyKind(int property) const;
wpi::StringRef GetPropertyName(int property, wpi::SmallVectorImpl<char>& buf,
CS_Status* status) const;
std::string_view GetPropertyName(int property,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status) const;
int GetProperty(int property, CS_Status* status) const;
virtual void SetProperty(int property, int value, CS_Status* status);
int GetPropertyMin(int property, CS_Status* status) const;
int GetPropertyMax(int property, CS_Status* status) const;
int GetPropertyStep(int property, CS_Status* status) const;
int GetPropertyDefault(int property, CS_Status* status) const;
wpi::StringRef GetStringProperty(int property,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status) const;
virtual void SetStringProperty(int property, const wpi::Twine& value,
std::string_view GetStringProperty(int property,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status) const;
virtual void SetStringProperty(int property, std::string_view value,
CS_Status* status);
std::vector<std::string> GetEnumPropertyChoices(int property,
CS_Status* status) const;
bool SetPropertiesJson(const wpi::json& config, wpi::Logger& logger,
wpi::StringRef logName, CS_Status* status);
std::string_view logName, CS_Status* status);
wpi::json GetPropertiesJsonObject(CS_Status* status);
protected:
@@ -76,10 +77,9 @@ class PropertyContainer {
// @tparam NewFunc functor that returns a std::unique_ptr<PropertyImpl>
// @tparam UpdateFunc functor that takes a PropertyImpl&.
template <typename NewFunc, typename UpdateFunc>
int CreateOrUpdateProperty(const wpi::Twine& name, NewFunc newFunc,
int CreateOrUpdateProperty(std::string_view name, NewFunc newFunc,
UpdateFunc updateFunc) {
wpi::SmallVector<char, 64> nameBuf;
int& ndx = m_properties[name.toStringRef(nameBuf)];
int& ndx = m_properties[name];
if (ndx == 0) {
// create a new index
ndx = m_propertyData.size() + 1;
@@ -91,7 +91,7 @@ class PropertyContainer {
return ndx;
}
template <typename NewFunc>
int CreateProperty(const wpi::Twine& name, NewFunc newFunc) {
int CreateProperty(std::string_view name, NewFunc newFunc) {
return CreateOrUpdateProperty(name, newFunc, [](PropertyImpl&) {});
}
@@ -100,7 +100,7 @@ class PropertyContainer {
// Note: called with m_mutex held.
// The default implementation simply creates a PropertyImpl object.
virtual std::unique_ptr<PropertyImpl> CreateEmptyProperty(
const wpi::Twine& name) const;
std::string_view name) const;
// Cache properties. Implementations must return false and set status to
// CS_SOURCE_IS_DISCONNECTED if not possible to cache.
@@ -111,7 +111,7 @@ class PropertyContainer {
// Update property value; must be called with m_mutex held.
virtual void UpdatePropertyValue(int property, bool setString, int value,
const wpi::Twine& valueStr) = 0;
std::string_view valueStr) = 0;
// Whether CacheProperties() has been successful at least once (and thus
// should not be called again)

17
cscore/src/main/native/cpp/PropertyImpl.cpp
View File

@@ -6,18 +6,18 @@
using namespace cs;
PropertyImpl::PropertyImpl(const wpi::Twine& name_) : name{name_.str()} {}
PropertyImpl::PropertyImpl(const wpi::Twine& name_, CS_PropertyKind kind_,
PropertyImpl::PropertyImpl(std::string_view name_) : name{name_} {}
PropertyImpl::PropertyImpl(std::string_view name_, CS_PropertyKind kind_,
int step_, int defaultValue_, int value_)
: name{name_.str()},
: name{name_},
propKind{kind_},
step{step_},
defaultValue{defaultValue_},
value{value_} {}
PropertyImpl::PropertyImpl(const wpi::Twine& name_, CS_PropertyKind kind_,
PropertyImpl::PropertyImpl(std::string_view name_, CS_PropertyKind kind_,
int minimum_, int maximum_, int step_,
int defaultValue_, int value_)
: name{name_.str()},
: name{name_},
propKind{kind_},
hasMinimum{true},
hasMaximum{true},
@@ -43,11 +43,10 @@ void PropertyImpl::SetValue(int v) {
}
}
void PropertyImpl::SetValue(const wpi::Twine& v) {
void PropertyImpl::SetValue(std::string_view v) {
bool valueChanged = false;
std::string vStr = v.str();
if (valueStr != vStr) {
valueStr = vStr;
if (valueStr != v) {
valueStr = v;
valueChanged = true;
}
bool wasValueSet = valueSet;

11
cscore/src/main/native/cpp/PropertyImpl.h
View File

@@ -6,11 +6,10 @@
#define CSCORE_PROPERTYIMPL_H_
#include <string>
#include <string_view>
#include <vector>
#include <wpi/Signal.h>
#include <wpi/StringRef.h>
#include <wpi/Twine.h>
#include "cscore_c.h"
@@ -20,17 +19,17 @@ namespace cs {
class PropertyImpl {
public:
PropertyImpl() = default;
explicit PropertyImpl(const wpi::Twine& name_);
PropertyImpl(const wpi::Twine& name_, CS_PropertyKind kind_, int step_,
explicit PropertyImpl(std::string_view name_);
PropertyImpl(std::string_view name_, CS_PropertyKind kind_, int step_,
int defaultValue_, int value_);
PropertyImpl(const wpi::Twine& name_, CS_PropertyKind kind_, int minimum_,
PropertyImpl(std::string_view name_, CS_PropertyKind kind_, int minimum_,
int maximum_, int step_, int defaultValue_, int value_);
virtual ~PropertyImpl() = default;
PropertyImpl(const PropertyImpl& oth) = delete;
PropertyImpl& operator=(const PropertyImpl& oth) = delete;
void SetValue(int v);
void SetValue(const wpi::Twine& v);
void SetValue(std::string_view v);
void SetDefaultValue(int v);
std::string name;

10
cscore/src/main/native/cpp/RawSinkImpl.cpp
View File

@@ -10,14 +10,14 @@
using namespace cs;
RawSinkImpl::RawSinkImpl(const wpi::Twine& name, wpi::Logger& logger,
RawSinkImpl::RawSinkImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry)
: SinkImpl{name, logger, notifier, telemetry} {
m_active = true;
// m_thread = std::thread(&RawSinkImpl::ThreadMain, this);
}
RawSinkImpl::RawSinkImpl(const wpi::Twine& name, wpi::Logger& logger,
RawSinkImpl::RawSinkImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
std::function<void(uint64_t time)> processFrame)
: SinkImpl{name, logger, notifier, telemetry} {}
@@ -127,7 +127,7 @@ void RawSinkImpl::ThreadMain() {
std::this_thread::sleep_for(std::chrono::seconds(1));
continue;
}
SDEBUG4("waiting for frame");
SDEBUG4("{}", "waiting for frame");
Frame frame = source->GetNextFrame(); // blocks
if (!m_active) {
break;
@@ -143,14 +143,14 @@ void RawSinkImpl::ThreadMain() {
}
namespace cs {
CS_Sink CreateRawSink(const wpi::Twine& name, CS_Status* status) {
CS_Sink CreateRawSink(std::string_view name, CS_Status* status) {
auto& inst = Instance::GetInstance();
return inst.CreateSink(CS_SINK_RAW,
std::make_shared<RawSinkImpl>(
name, inst.logger, inst.notifier, inst.telemetry));
}
CS_Sink CreateRawSinkCallback(const wpi::Twine& name,
CS_Sink CreateRawSinkCallback(std::string_view name,
std::function<void(uint64_t time)> processFrame,
CS_Status* status) {
auto& inst = Instance::GetInstance();

6
cscore/src/main/native/cpp/RawSinkImpl.h
View File

@@ -9,9 +9,9 @@
#include <atomic>
#include <functional>
#include <string_view>
#include <thread>
#include <wpi/Twine.h>
#include <wpi/condition_variable.h>
#include "Frame.h"
@@ -23,9 +23,9 @@ class SourceImpl;
class RawSinkImpl : public SinkImpl {
public:
RawSinkImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
RawSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry);
RawSinkImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
RawSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry,
std::function<void(uint64_t time)> processFrame);
~RawSinkImpl() override;

4
cscore/src/main/native/cpp/RawSourceImpl.cpp
View File

@@ -14,7 +14,7 @@
using namespace cs;
RawSourceImpl::RawSourceImpl(const wpi::Twine& name, wpi::Logger& logger,
RawSourceImpl::RawSourceImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
const VideoMode& mode)
: ConfigurableSourceImpl{name, logger, notifier, telemetry, mode} {}
@@ -47,7 +47,7 @@ void RawSourceImpl::PutFrame(const CS_RawFrame& image) {
}
namespace cs {
CS_Source CreateRawSource(const wpi::Twine& name, const VideoMode& mode,
CS_Source CreateRawSource(std::string_view name, const VideoMode& mode,
CS_Status* status) {
auto& inst = Instance::GetInstance();
return inst.CreateSource(CS_SOURCE_RAW, std::make_shared<RawSourceImpl>(

4
cscore/src/main/native/cpp/RawSourceImpl.h
View File

@@ -9,10 +9,10 @@
#include <functional>
#include <memory>
#include <string>
#include <string_view>
#include <vector>
#include <wpi/ArrayRef.h>
#include <wpi/Twine.h>
#include "ConfigurableSourceImpl.h"
#include "SourceImpl.h"
@@ -22,7 +22,7 @@ namespace cs {
class RawSourceImpl : public ConfigurableSourceImpl {
public:
RawSourceImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
RawSourceImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry, const VideoMode& mode);
~RawSourceImpl() override;

30
cscore/src/main/native/cpp/SinkImpl.cpp
View File

@@ -12,12 +12,12 @@
using namespace cs;
SinkImpl::SinkImpl(const wpi::Twine& name, wpi::Logger& logger,
SinkImpl::SinkImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry)
: m_logger(logger),
m_notifier(notifier),
m_telemetry(telemetry),
m_name{name.str()} {}
m_name{name} {}
SinkImpl::~SinkImpl() {
if (m_source) {
@@ -28,15 +28,16 @@ SinkImpl::~SinkImpl() {
}
}
void SinkImpl::SetDescription(const wpi::Twine& description) {
void SinkImpl::SetDescription(std::string_view description) {
std::scoped_lock lock(m_mutex);
m_description = description.str();
m_description = description;
}
wpi::StringRef SinkImpl::GetDescription(wpi::SmallVectorImpl<char>& buf) const {
std::string_view SinkImpl::GetDescription(
wpi::SmallVectorImpl<char>& buf) const {
std::scoped_lock lock(m_mutex);
buf.append(m_description.begin(), m_description.end());
return wpi::StringRef{buf.data(), buf.size()};
return {buf.data(), buf.size()};
}
void SinkImpl::Enable() {
@@ -106,28 +107,27 @@ std::string SinkImpl::GetError() const {
if (!m_source) {
return "no source connected";
}
return m_source->GetCurFrame().GetError();
return std::string{m_source->GetCurFrame().GetError()};
}
wpi::StringRef SinkImpl::GetError(wpi::SmallVectorImpl<char>& buf) const {
std::string_view SinkImpl::GetError(wpi::SmallVectorImpl<char>& buf) const {
std::scoped_lock lock(m_mutex);
if (!m_source) {
return "no source connected";
}
// Make a copy as it's shared data
wpi::StringRef error = m_source->GetCurFrame().GetError();
std::string_view error = m_source->GetCurFrame().GetError();
buf.clear();
buf.append(error.data(), error.data() + error.size());
return wpi::StringRef{buf.data(), buf.size()};
return {buf.data(), buf.size()};
}
bool SinkImpl::SetConfigJson(wpi::StringRef config, CS_Status* status) {
bool SinkImpl::SetConfigJson(std::string_view config, CS_Status* status) {
wpi::json j;
try {
j = wpi::json::parse(config);
} catch (const wpi::json::parse_error& e) {
SWARNING("SetConfigJson: parse error at byte " << e.byte << ": "
<< e.what());
SWARNING("SetConfigJson: parse error at byte {}: {}", e.byte, e.what());
*status = CS_PROPERTY_WRITE_FAILED;
return false;
}
@@ -169,12 +169,12 @@ void SinkImpl::NotifyPropertyCreated(int propIndex, PropertyImpl& prop) {
if (prop.propKind == CS_PROP_ENUM) {
m_notifier.NotifySinkProperty(*this, CS_SINK_PROPERTY_CHOICES_UPDATED,
prop.name, propIndex, prop.propKind,
prop.value, wpi::Twine{});
prop.value, {});
}
}
void SinkImpl::UpdatePropertyValue(int property, bool setString, int value,
const wpi::Twine& valueStr) {
std::string_view valueStr) {
auto prop = GetProperty(property);
if (!prop) {
return;

17
cscore/src/main/native/cpp/SinkImpl.h
View File

@@ -7,10 +7,9 @@
#include <memory>
#include <string>
#include <string_view>
#include <wpi/Logger.h>
#include <wpi/StringRef.h>
#include <wpi/Twine.h>
#include <wpi/mutex.h>
#include "SourceImpl.h"
@@ -27,16 +26,16 @@ class Telemetry;
class SinkImpl : public PropertyContainer {
public:
explicit SinkImpl(const wpi::Twine& name, wpi::Logger& logger,
explicit SinkImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry);
~SinkImpl() override;
SinkImpl(const SinkImpl& queue) = delete;
SinkImpl& operator=(const SinkImpl& queue) = delete;
wpi::StringRef GetName() const { return m_name; }
std::string_view GetName() const { return m_name; }
void SetDescription(const wpi::Twine& description);
wpi::StringRef GetDescription(wpi::SmallVectorImpl<char>& buf) const;
void SetDescription(std::string_view description);
std::string_view GetDescription(wpi::SmallVectorImpl<char>& buf) const;
void Enable();
void Disable();
@@ -50,9 +49,9 @@ class SinkImpl : public PropertyContainer {
}
std::string GetError() const;
wpi::StringRef GetError(wpi::SmallVectorImpl<char>& buf) const;
std::string_view GetError(wpi::SmallVectorImpl<char>& buf) const;
bool SetConfigJson(wpi::StringRef config, CS_Status* status);
bool SetConfigJson(std::string_view config, CS_Status* status);
virtual bool SetConfigJson(const wpi::json& config, CS_Status* status);
std::string GetConfigJson(CS_Status* status);
virtual wpi::json GetConfigJsonObject(CS_Status* status);
@@ -61,7 +60,7 @@ class SinkImpl : public PropertyContainer {
// PropertyContainer implementation
void NotifyPropertyCreated(int propIndex, PropertyImpl& prop) override;
void UpdatePropertyValue(int property, bool setString, int value,
const wpi::Twine& valueStr) override;
std::string_view valueStr) override;
virtual void SetSourceImpl(std::shared_ptr<SourceImpl> source);

115
cscore/src/main/native/cpp/SourceImpl.cpp
View File

@@ -8,6 +8,7 @@
#include <cstring>
#include <memory>
#include <wpi/StringExtras.h>
#include <wpi/json.h>
#include <wpi/timestamp.h>
@@ -19,13 +20,13 @@ using namespace cs;
static constexpr size_t kMaxImagesAvail = 32;
SourceImpl::SourceImpl(const wpi::Twine& name, wpi::Logger& logger,
SourceImpl::SourceImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry)
: m_logger(logger),
m_notifier(notifier),
m_telemetry(telemetry),
m_name{name.str()} {
m_frame = Frame{*this, wpi::StringRef{}, 0};
m_name{name} {
m_frame = Frame{*this, std::string_view{}, 0};
}
SourceImpl::~SourceImpl() {
@@ -41,16 +42,16 @@ SourceImpl::~SourceImpl() {
// Everything else can clean up itself.
}
void SourceImpl::SetDescription(const wpi::Twine& description) {
void SourceImpl::SetDescription(std::string_view description) {
std::scoped_lock lock(m_mutex);
m_description = description.str();
m_description = description;
}
wpi::StringRef SourceImpl::GetDescription(
std::string_view SourceImpl::GetDescription(
wpi::SmallVectorImpl<char>& buf) const {
std::scoped_lock lock(m_mutex);
buf.append(m_description.begin(), m_description.end());
return wpi::StringRef{buf.data(), buf.size()};
return {buf.data(), buf.size()};
}
void SourceImpl::SetConnected(bool connected) {
@@ -93,7 +94,7 @@ Frame SourceImpl::GetNextFrame(double timeout) {
void SourceImpl::Wakeup() {
{
std::scoped_lock lock{m_frameMutex};
m_frame = Frame{*this, wpi::StringRef{}, 0};
m_frame = Frame{*this, std::string_view{}, 0};
}
m_frameCv.notify_all();
}
@@ -168,13 +169,12 @@ bool SourceImpl::SetFPS(int fps, CS_Status* status) {
return SetVideoMode(mode, status);
}
bool SourceImpl::SetConfigJson(wpi::StringRef config, CS_Status* status) {
bool SourceImpl::SetConfigJson(std::string_view config, CS_Status* status) {
wpi::json j;
try {
j = wpi::json::parse(config);
} catch (const wpi::json::parse_error& e) {
SWARNING("SetConfigJson: parse error at byte " << e.byte << ": "
<< e.what());
SWARNING("SetConfigJson: parse error at byte {}: {}", e.byte, e.what());
*status = CS_PROPERTY_WRITE_FAILED;
return false;
}
@@ -188,23 +188,22 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
if (config.count("pixel format") != 0) {
try {
auto str = config.at("pixel format").get<std::string>();
wpi::StringRef s(str);
if (s.equals_lower("mjpeg")) {
if (wpi::equals_lower(str, "mjpeg")) {
mode.pixelFormat = cs::VideoMode::kMJPEG;
} else if (s.equals_lower("yuyv")) {
} else if (wpi::equals_lower(str, "yuyv")) {
mode.pixelFormat = cs::VideoMode::kYUYV;
} else if (s.equals_lower("rgb565")) {
} else if (wpi::equals_lower(str, "rgb565")) {
mode.pixelFormat = cs::VideoMode::kRGB565;
} else if (s.equals_lower("bgr")) {
} else if (wpi::equals_lower(str, "bgr")) {
mode.pixelFormat = cs::VideoMode::kBGR;
} else if (s.equals_lower("gray")) {
} else if (wpi::equals_lower(str, "gray")) {
mode.pixelFormat = cs::VideoMode::kGray;
} else {
SWARNING("SetConfigJson: could not understand pixel format value '"
<< str << '\'');
SWARNING("SetConfigJson: could not understand pixel format value '{}'",
str);
}
} catch (const wpi::json::exception& e) {
SWARNING("SetConfigJson: could not read pixel format: " << e.what());
SWARNING("SetConfigJson: could not read pixel format: {}", e.what());
}
}
@@ -213,7 +212,7 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
try {
mode.width = config.at("width").get<unsigned int>();
} catch (const wpi::json::exception& e) {
SWARNING("SetConfigJson: could not read width: " << e.what());
SWARNING("SetConfigJson: could not read width: {}", e.what());
}
}
@@ -222,7 +221,7 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
try {
mode.height = config.at("height").get<unsigned int>();
} catch (const wpi::json::exception& e) {
SWARNING("SetConfigJson: could not read height: " << e.what());
SWARNING("SetConfigJson: could not read height: {}", e.what());
}
}
@@ -231,30 +230,31 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
try {
mode.fps = config.at("fps").get<unsigned int>();
} catch (const wpi::json::exception& e) {
SWARNING("SetConfigJson: could not read fps: " << e.what());
SWARNING("SetConfigJson: could not read fps: {}", e.what());
}
}
// if all of video mode is set, use SetVideoMode, otherwise piecemeal it
if (mode.pixelFormat != VideoMode::kUnknown && mode.width != 0 &&
mode.height != 0 && mode.fps != 0) {
SINFO("SetConfigJson: setting video mode to pixelFormat "
<< mode.pixelFormat << ", width " << mode.width << ", height "
<< mode.height << ", fps " << mode.fps);
SINFO(
"SetConfigJson: setting video mode to pixelFormat {}, width {}, height "
"{}, fps {}",
mode.pixelFormat, mode.width, mode.height, mode.fps);
SetVideoMode(mode, status);
} else {
if (mode.pixelFormat != cs::VideoMode::kUnknown) {
SINFO("SetConfigJson: setting pixelFormat " << mode.pixelFormat);
SINFO("SetConfigJson: setting pixelFormat {}", mode.pixelFormat);
SetPixelFormat(static_cast<cs::VideoMode::PixelFormat>(mode.pixelFormat),
status);
}
if (mode.width != 0 && mode.height != 0) {
SINFO("SetConfigJson: setting width " << mode.width << ", height "
<< mode.height);
SINFO("SetConfigJson: setting width {}, height {}", mode.width,
mode.height);
SetResolution(mode.width, mode.height, status);
}
if (mode.fps != 0) {
SINFO("SetConfigJson: setting fps " << mode.fps);
SINFO("SetConfigJson: setting fps {}", mode.fps);
SetFPS(mode.fps, status);
}
}
@@ -263,10 +263,10 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
if (config.count("brightness") != 0) {
try {
int val = config.at("brightness").get<int>();
SINFO("SetConfigJson: setting brightness to " << val);
SINFO("SetConfigJson: setting brightness to {}", val);
SetBrightness(val, status);
} catch (const wpi::json::exception& e) {
SWARNING("SetConfigJson: could not read brightness: " << e.what());
SWARNING("SetConfigJson: could not read brightness: {}", e.what());
}
}
@@ -276,24 +276,24 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
auto& setting = config.at("white balance");
if (setting.is_string()) {
auto str = setting.get<std::string>();
wpi::StringRef s(str);
if (s.equals_lower("auto")) {
SINFO("SetConfigJson: setting white balance to auto");
if (wpi::equals_lower(str, "auto")) {
SINFO("SetConfigJson: setting white balance to {}", "auto");
SetWhiteBalanceAuto(status);
} else if (s.equals_lower("hold")) {
SINFO("SetConfigJson: setting white balance to hold current");
} else if (wpi::equals_lower(str, "hold")) {
SINFO("SetConfigJson: setting white balance to {}", "hold current");
SetWhiteBalanceHoldCurrent(status);
} else {
SWARNING("SetConfigJson: could not understand white balance value '"
<< str << '\'');
SWARNING(
"SetConfigJson: could not understand white balance value '{}'",
str);
}
} else {
int val = setting.get<int>();
SINFO("SetConfigJson: setting white balance to " << val);
SINFO("SetConfigJson: setting white balance to {}", val);
SetWhiteBalanceManual(val, status);
}
} catch (const wpi::json::exception& e) {
SWARNING("SetConfigJson: could not read white balance: " << e.what());
SWARNING("SetConfigJson: could not read white balance: {}", e.what());
}
}
@@ -303,24 +303,23 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
auto& setting = config.at("exposure");
if (setting.is_string()) {
auto str = setting.get<std::string>();
wpi::StringRef s(str);
if (s.equals_lower("auto")) {
SINFO("SetConfigJson: setting exposure to auto");
if (wpi::equals_lower(str, "auto")) {
SINFO("SetConfigJson: setting exposure to {}", "auto");
SetExposureAuto(status);
} else if (s.equals_lower("hold")) {
SINFO("SetConfigJson: setting exposure to hold current");
} else if (wpi::equals_lower(str, "hold")) {
SINFO("SetConfigJson: setting exposure to {}", "hold current");
SetExposureHoldCurrent(status);
} else {
SWARNING("SetConfigJson: could not understand exposure value '"
<< str << '\'');
SWARNING("SetConfigJson: could not understand exposure value '{}'",
str);
}
} else {
int val = setting.get<int>();
SINFO("SetConfigJson: setting exposure to " << val);
SINFO("SetConfigJson: setting exposure to {}", val);
SetExposureManual(val, status);
}
} catch (const wpi::json::exception& e) {
SWARNING("SetConfigJson: could not read exposure: " << e.what());
SWARNING("SetConfigJson: could not read exposure: {}", e.what());
}
}
@@ -344,7 +343,7 @@ wpi::json SourceImpl::GetConfigJsonObject(CS_Status* status) {
wpi::json j;
// pixel format
wpi::StringRef pixelFormat;
std::string_view pixelFormat;
switch (m_mode.pixelFormat) {
case VideoMode::kMJPEG:
pixelFormat = "mjpeg";
@@ -440,14 +439,12 @@ std::unique_ptr<Image> SourceImpl::AllocImage(
}
void SourceImpl::PutFrame(VideoMode::PixelFormat pixelFormat, int width,
int height, wpi::StringRef data, Frame::Time time) {
int height, std::string_view data, Frame::Time time) {
auto image = AllocImage(pixelFormat, width, height, data.size());
// Copy in image data
SDEBUG4("Copying data to "
<< reinterpret_cast<const void*>(image->data()) << " from "
<< reinterpret_cast<const void*>(data.data()) << " (" << data.size()
<< " bytes)");
SDEBUG4("Copying data to {} from {} ({} bytes)", fmt::ptr(image->data()),
fmt::ptr(data.data()), data.size());
std::memcpy(image->data(), data.data(), data.size());
PutFrame(std::move(image), time);
@@ -468,7 +465,7 @@ void SourceImpl::PutFrame(std::unique_ptr<Image> image, Frame::Time time) {
m_frameCv.notify_all();
}
void SourceImpl::PutError(const wpi::Twine& msg, Frame::Time time) {
void SourceImpl::PutError(std::string_view msg, Frame::Time time) {
// Update frame
{
std::scoped_lock lock{m_frameMutex};
@@ -487,12 +484,12 @@ void SourceImpl::NotifyPropertyCreated(int propIndex, PropertyImpl& prop) {
if (prop.propKind == CS_PROP_ENUM) {
m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CHOICES_UPDATED,
prop.name, propIndex, prop.propKind,
prop.value, wpi::Twine{});
prop.value, {});
}
}
void SourceImpl::UpdatePropertyValue(int property, bool setString, int value,
const wpi::Twine& valueStr) {
std::string_view valueStr) {
auto prop = GetProperty(property);
if (!prop) {
return;

19
cscore/src/main/native/cpp/SourceImpl.h
View File

@@ -9,12 +9,11 @@
#include <cstddef>
#include <memory>
#include <string>
#include <string_view>
#include <vector>
#include <wpi/ArrayRef.h>
#include <wpi/Logger.h>
#include <wpi/StringRef.h>
#include <wpi/Twine.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
@@ -37,7 +36,7 @@ class SourceImpl : public PropertyContainer {
friend class Frame;
public:
SourceImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
SourceImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry);
~SourceImpl() override;
SourceImpl(const SourceImpl& oth) = delete;
@@ -45,10 +44,10 @@ class SourceImpl : public PropertyContainer {
virtual void Start() = 0;
wpi::StringRef GetName() const { return m_name; }
std::string_view GetName() const { return m_name; }
void SetDescription(const wpi::Twine& description);
wpi::StringRef GetDescription(wpi::SmallVectorImpl<char>& buf) const;
void SetDescription(std::string_view description);
std::string_view GetDescription(wpi::SmallVectorImpl<char>& buf) const;
void SetConnectionStrategy(CS_ConnectionStrategy strategy) {
m_strategy = static_cast<int>(strategy);
@@ -128,7 +127,7 @@ class SourceImpl : public PropertyContainer {
virtual bool SetResolution(int width, int height, CS_Status* status);
virtual bool SetFPS(int fps, CS_Status* status);
bool SetConfigJson(wpi::StringRef config, CS_Status* status);
bool SetConfigJson(std::string_view config, CS_Status* status);
virtual bool SetConfigJson(const wpi::json& config, CS_Status* status);
std::string GetConfigJson(CS_Status* status);
virtual wpi::json GetConfigJsonObject(CS_Status* status);
@@ -141,12 +140,12 @@ class SourceImpl : public PropertyContainer {
protected:
void NotifyPropertyCreated(int propIndex, PropertyImpl& prop) override;
void UpdatePropertyValue(int property, bool setString, int value,
const wpi::Twine& valueStr) override;
std::string_view valueStr) override;
void PutFrame(VideoMode::PixelFormat pixelFormat, int width, int height,
wpi::StringRef data, Frame::Time time);
std::string_view data, Frame::Time time);
void PutFrame(std::unique_ptr<Image> image, Frame::Time time);
void PutError(const wpi::Twine& msg, Frame::Time time);
void PutError(std::string_view msg, Frame::Time time);
// Notification functions for corresponding atomics
virtual void NumSinksChanged() = 0;

4
cscore/src/main/native/cpp/c_util.h
View File

@@ -7,13 +7,13 @@
#include <cstdlib>
#include <cstring>
#include <string_view>
#include <wpi/MemAlloc.h>
#include <wpi/StringRef.h>
namespace cs {
inline char* ConvertToC(wpi::StringRef in) {
inline char* ConvertToC(std::string_view in) {
char* out = static_cast<char*>(wpi::safe_malloc(in.size() + 1));
std::memmove(out, in.data(), in.size());
out[in.size()] = '\0';

73
cscore/src/main/native/cpp/cscore_cpp.cpp
View File

@@ -70,12 +70,12 @@ std::string GetPropertyName(CS_Property property, CS_Status* status) {
if (!container) {
return {};
}
return container->GetPropertyName(propertyIndex, buf, status);
return std::string{container->GetPropertyName(propertyIndex, buf, status)};
}
wpi::StringRef GetPropertyName(CS_Property property,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
std::string_view GetPropertyName(CS_Property property,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
int propertyIndex;
auto container = GetPropertyContainer(property, &propertyIndex, status);
if (!container) {
@@ -145,12 +145,12 @@ std::string GetStringProperty(CS_Property property, CS_Status* status) {
if (!container) {
return {};
}
return container->GetStringProperty(propertyIndex, buf, status);
return std::string{container->GetStringProperty(propertyIndex, buf, status)};
}
wpi::StringRef GetStringProperty(CS_Property property,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
std::string_view GetStringProperty(CS_Property property,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
int propertyIndex;
auto container = GetPropertyContainer(property, &propertyIndex, status);
if (!container) {
@@ -159,7 +159,7 @@ wpi::StringRef GetStringProperty(CS_Property property,
return container->GetStringProperty(propertyIndex, buf, status);
}
void SetStringProperty(CS_Property property, const wpi::Twine& value,
void SetStringProperty(CS_Property property, std::string_view value,
CS_Status* status) {
int propertyIndex;
auto container = GetPropertyContainer(property, &propertyIndex, status);
@@ -196,17 +196,18 @@ std::string GetSourceName(CS_Source source, CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data) {
*status = CS_INVALID_HANDLE;
return std::string{};
return {};
}
return data->source->GetName();
return std::string{data->source->GetName()};
}
wpi::StringRef GetSourceName(CS_Source source, wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
std::string_view GetSourceName(CS_Source source,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data) {
*status = CS_INVALID_HANDLE;
return wpi::StringRef{};
return {};
}
return data->source->GetName();
}
@@ -215,19 +216,19 @@ std::string GetSourceDescription(CS_Source source, CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data) {
*status = CS_INVALID_HANDLE;
return std::string{};
return {};
}
wpi::SmallString<128> buf;
return data->source->GetDescription(buf);
return std::string{data->source->GetDescription(buf)};
}
wpi::StringRef GetSourceDescription(CS_Source source,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
std::string_view GetSourceDescription(CS_Source source,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data) {
*status = CS_INVALID_HANDLE;
return wpi::StringRef{};
return {};
}
return data->source->GetDescription(buf);
}
@@ -270,7 +271,7 @@ bool IsSourceEnabled(CS_Source source, CS_Status* status) {
return data->source->IsEnabled();
}
CS_Property GetSourceProperty(CS_Source source, const wpi::Twine& name,
CS_Property GetSourceProperty(CS_Source source, std::string_view name,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data) {
@@ -349,7 +350,7 @@ bool SetSourceFPS(CS_Source source, int fps, CS_Status* status) {
return data->source->SetFPS(fps, status);
}
bool SetSourceConfigJson(CS_Source source, wpi::StringRef config,
bool SetSourceConfigJson(CS_Source source, std::string_view config,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data) {
@@ -531,17 +532,17 @@ std::string GetSinkName(CS_Sink sink, CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data) {
*status = CS_INVALID_HANDLE;
return std::string{};
return {};
}
return data->sink->GetName();
return std::string{data->sink->GetName()};
}
wpi::StringRef GetSinkName(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
std::string_view GetSinkName(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data) {
*status = CS_INVALID_HANDLE;
return wpi::StringRef{};
return {};
}
return data->sink->GetName();
}
@@ -550,23 +551,24 @@ std::string GetSinkDescription(CS_Sink sink, CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data) {
*status = CS_INVALID_HANDLE;
return std::string{};
return {};
}
wpi::SmallString<128> buf;
return data->sink->GetDescription(buf);
return std::string{data->sink->GetDescription(buf)};
}
wpi::StringRef GetSinkDescription(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
std::string_view GetSinkDescription(CS_Sink sink,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data) {
*status = CS_INVALID_HANDLE;
return wpi::StringRef{};
return {};
}
return data->sink->GetDescription(buf);
}
CS_Property GetSinkProperty(CS_Sink sink, const wpi::Twine& name,
CS_Property GetSinkProperty(CS_Sink sink, std::string_view name,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data) {
@@ -596,7 +598,8 @@ wpi::ArrayRef<CS_Property> EnumerateSinkProperties(
return vec;
}
bool SetSinkConfigJson(CS_Sink sink, wpi::StringRef config, CS_Status* status) {
bool SetSinkConfigJson(CS_Sink sink, std::string_view config,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data) {
*status = CS_INVALID_HANDLE;
@@ -663,7 +666,7 @@ CS_Source GetSinkSource(CS_Sink sink, CS_Status* status) {
return data->sourceHandle.load();
}
CS_Property GetSinkSourceProperty(CS_Sink sink, const wpi::Twine& name,
CS_Property GetSinkSourceProperty(CS_Sink sink, std::string_view name,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data) {

5
cscore/src/main/native/cpp/cscore_oo.cpp
View File

@@ -4,6 +4,7 @@
#include "cscore_oo.h"
#include <fmt/format.h>
#include <wpi/json.h>
using namespace cs;
@@ -82,3 +83,7 @@ std::vector<VideoSink> VideoSink::EnumerateSinks() {
}
return sinks;
}
std::string AxisCamera::HostToUrl(std::string_view host) {
return fmt::format("http://{}/mjpg/video.mjpg", host);
}

15
cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
View File

@@ -4,10 +4,10 @@
#include <exception>
#include <fmt/format.h>
#include <opencv2/core/core.hpp>
#include <wpi/SmallString.h>
#include <wpi/jni_util.h>
#include <wpi/raw_ostream.h>
#include "cscore_cpp.h"
#include "cscore_cv.h"
@@ -197,7 +197,8 @@ static void ReportError(JNIEnv* env, CS_Status status) {
if (status == CS_OK) {
return;
}
wpi::SmallString<64> msg;
std::string_view msg;
std::string msgBuf;
switch (status) {
case CS_PROPERTY_WRITE_FAILED:
msg = "property write failed";
@@ -230,8 +231,8 @@ static void ReportError(JNIEnv* env, CS_Status status) {
msg = "telemetry not enabled";
break;
default: {
wpi::raw_svector_ostream oss{msg};
oss << "unknown error code=" << status;
msgBuf = fmt::format("unknown error code={}", status);
msg = msgBuf;
break;
}
}
@@ -577,7 +578,7 @@ Java_edu_wpi_first_cscore_CameraServerJNI_createHttpCameraMulti
// TODO
return 0;
}
vec.push_back(JStringRef{env, elem}.str());
vec.emplace_back(JStringRef{env, elem}.str());
}
CS_Status status = 0;
auto val =
@@ -1172,7 +1173,7 @@ Java_edu_wpi_first_cscore_CameraServerJNI_setHttpCameraUrls
// TODO
return;
}
vec.push_back(JStringRef{env, elem}.str());
vec.emplace_back(JStringRef{env, elem}.str());
}
CS_Status status = 0;
cs::SetHttpCameraUrls(source, vec, &status);
@@ -1353,7 +1354,7 @@ Java_edu_wpi_first_cscore_CameraServerJNI_setSourceEnumPropertyChoices
// TODO
return;
}
vec.push_back(JStringRef{env, elem}.str());
vec.emplace_back(JStringRef{env, elem}.str());
}
CS_Status status = 0;
cs::SetSourceEnumPropertyChoices(source, property, vec, &status);

98
cscore/src/main/native/include/cscore_cpp.h
View File

@@ -9,12 +9,11 @@
#include <functional>
#include <string>
#include <string_view>
#include <vector>
#include <wpi/ArrayRef.h>
#include <wpi/SmallVector.h>
#include <wpi/StringRef.h>
#include <wpi/Twine.h>
#include "cscore_c.h"
@@ -122,8 +121,8 @@ struct RawEvent {
RawEvent() = default;
explicit RawEvent(RawEvent::Kind kind_) : kind{kind_} {}
RawEvent(const wpi::Twine& name_, CS_Handle handle_, RawEvent::Kind kind_)
: kind{kind_}, name{name_.str()} {
RawEvent(std::string_view name_, CS_Handle handle_, RawEvent::Kind kind_)
: kind{kind_}, name{name_} {
if (kind_ == kSinkCreated || kind_ == kSinkDestroyed ||
kind_ == kSinkEnabled || kind_ == kSinkDisabled) {
sinkHandle = handle_;
@@ -131,21 +130,21 @@ struct RawEvent {
sourceHandle = handle_;
}
}
RawEvent(const wpi::Twine& name_, CS_Source source_, const VideoMode& mode_)
RawEvent(std::string_view name_, CS_Source source_, const VideoMode& mode_)
: kind{kSourceVideoModeChanged},
sourceHandle{source_},
name{name_.str()},
name{name_},
mode{mode_} {}
RawEvent(const wpi::Twine& name_, CS_Source source_, RawEvent::Kind kind_,
RawEvent(std::string_view name_, CS_Source source_, RawEvent::Kind kind_,
CS_Property property_, CS_PropertyKind propertyKind_, int value_,
const wpi::Twine& valueStr_)
std::string_view valueStr_)
: kind{kind_},
sourceHandle{source_},
name{name_.str()},
name{name_},
propertyHandle{property_},
propertyKind{propertyKind_},
value{value_},
valueStr{valueStr_.str()} {}
valueStr{valueStr_} {}
Kind kind;
@@ -175,9 +174,9 @@ struct RawEvent {
*/
CS_PropertyKind GetPropertyKind(CS_Property property, CS_Status* status);
std::string GetPropertyName(CS_Property property, CS_Status* status);
wpi::StringRef GetPropertyName(CS_Property property,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
std::string_view GetPropertyName(CS_Property property,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
int GetProperty(CS_Property property, CS_Status* status);
void SetProperty(CS_Property property, int value, CS_Status* status);
int GetPropertyMin(CS_Property property, CS_Status* status);
@@ -185,10 +184,10 @@ int GetPropertyMax(CS_Property property, CS_Status* status);
int GetPropertyStep(CS_Property property, CS_Status* status);
int GetPropertyDefault(CS_Property property, CS_Status* status);
std::string GetStringProperty(CS_Property property, CS_Status* status);
wpi::StringRef GetStringProperty(CS_Property property,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
void SetStringProperty(CS_Property property, const wpi::Twine& value,
std::string_view GetStringProperty(CS_Property property,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
void SetStringProperty(CS_Property property, std::string_view value,
CS_Status* status);
std::vector<std::string> GetEnumPropertyChoices(CS_Property property,
CS_Status* status);
@@ -198,16 +197,15 @@ std::vector<std::string> GetEnumPropertyChoices(CS_Property property,
* @defgroup cscore_source_create_func Source Creation Functions
* @{
*/
CS_Source CreateUsbCameraDev(const wpi::Twine& name, int dev,
CS_Status* status);
CS_Source CreateUsbCameraPath(const wpi::Twine& name, const wpi::Twine& path,
CS_Source CreateUsbCameraDev(std::string_view name, int dev, CS_Status* status);
CS_Source CreateUsbCameraPath(std::string_view name, std::string_view path,
CS_Status* status);
CS_Source CreateHttpCamera(const wpi::Twine& name, const wpi::Twine& url,
CS_Source CreateHttpCamera(std::string_view name, std::string_view url,
CS_HttpCameraKind kind, CS_Status* status);
CS_Source CreateHttpCamera(const wpi::Twine& name,
CS_Source CreateHttpCamera(std::string_view name,
wpi::ArrayRef<std::string> urls,
CS_HttpCameraKind kind, CS_Status* status);
CS_Source CreateCvSource(const wpi::Twine& name, const VideoMode& mode,
CS_Source CreateCvSource(std::string_view name, const VideoMode& mode,
CS_Status* status);
/** @} */
@@ -217,19 +215,20 @@ CS_Source CreateCvSource(const wpi::Twine& name, const VideoMode& mode,
*/
CS_SourceKind GetSourceKind(CS_Source source, CS_Status* status);
std::string GetSourceName(CS_Source source, CS_Status* status);
wpi::StringRef GetSourceName(CS_Source source, wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
std::string_view GetSourceName(CS_Source source,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
std::string GetSourceDescription(CS_Source source, CS_Status* status);
wpi::StringRef GetSourceDescription(CS_Source source,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
std::string_view GetSourceDescription(CS_Source source,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
uint64_t GetSourceLastFrameTime(CS_Source source, CS_Status* status);
void SetSourceConnectionStrategy(CS_Source source,
CS_ConnectionStrategy strategy,
CS_Status* status);
bool IsSourceConnected(CS_Source source, CS_Status* status);
bool IsSourceEnabled(CS_Source source, CS_Status* status);
CS_Property GetSourceProperty(CS_Source source, const wpi::Twine& name,
CS_Property GetSourceProperty(CS_Source source, std::string_view name,
CS_Status* status);
wpi::ArrayRef<CS_Property> EnumerateSourceProperties(
CS_Source source, wpi::SmallVectorImpl<CS_Property>& vec,
@@ -242,7 +241,7 @@ bool SetSourcePixelFormat(CS_Source source, VideoMode::PixelFormat pixelFormat,
bool SetSourceResolution(CS_Source source, int width, int height,
CS_Status* status);
bool SetSourceFPS(CS_Source source, int fps, CS_Status* status);
bool SetSourceConfigJson(CS_Source source, wpi::StringRef config,
bool SetSourceConfigJson(CS_Source source, std::string_view config,
CS_Status* status);
bool SetSourceConfigJson(CS_Source source, const wpi::json& config,
CS_Status* status);
@@ -276,7 +275,7 @@ void SetCameraExposureManual(CS_Source source, int value, CS_Status* status);
* @defgroup cscore_usbcamera_func UsbCamera Source Functions
* @{
*/
void SetUsbCameraPath(CS_Source, const wpi::Twine& path, CS_Status* status);
void SetUsbCameraPath(CS_Source, std::string_view path, CS_Status* status);
std::string GetUsbCameraPath(CS_Source source, CS_Status* status);
UsbCameraInfo GetUsbCameraInfo(CS_Source source, CS_Status* status);
/** @} */
@@ -295,12 +294,12 @@ std::vector<std::string> GetHttpCameraUrls(CS_Source source, CS_Status* status);
* @defgroup cscore_opencv_source_func OpenCV Source Functions
* @{
*/
void NotifySourceError(CS_Source source, const wpi::Twine& msg,
void NotifySourceError(CS_Source source, std::string_view msg,
CS_Status* status);
void SetSourceConnected(CS_Source source, bool connected, CS_Status* status);
void SetSourceDescription(CS_Source source, const wpi::Twine& description,
void SetSourceDescription(CS_Source source, std::string_view description,
CS_Status* status);
CS_Property CreateSourceProperty(CS_Source source, const wpi::Twine& name,
CS_Property CreateSourceProperty(CS_Source source, std::string_view name,
CS_PropertyKind kind, int minimum, int maximum,
int step, int defaultValue, int value,
CS_Status* status);
@@ -313,11 +312,10 @@ void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
* @defgroup cscore_sink_create_func Sink Creation Functions
* @{
*/
CS_Sink CreateMjpegServer(const wpi::Twine& name,
const wpi::Twine& listenAddress, int port,
CS_Status* status);
CS_Sink CreateCvSink(const wpi::Twine& name, CS_Status* status);
CS_Sink CreateCvSinkCallback(const wpi::Twine& name,
CS_Sink CreateMjpegServer(std::string_view name, std::string_view listenAddress,
int port, CS_Status* status);
CS_Sink CreateCvSink(std::string_view name, CS_Status* status);
CS_Sink CreateCvSinkCallback(std::string_view name,
std::function<void(uint64_t time)> processFrame,
CS_Status* status);
@@ -329,19 +327,21 @@ CS_Sink CreateCvSinkCallback(const wpi::Twine& name,
*/
CS_SinkKind GetSinkKind(CS_Sink sink, CS_Status* status);
std::string GetSinkName(CS_Sink sink, CS_Status* status);
wpi::StringRef GetSinkName(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
std::string_view GetSinkName(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
std::string GetSinkDescription(CS_Sink sink, CS_Status* status);
wpi::StringRef GetSinkDescription(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
CS_Property GetSinkProperty(CS_Sink sink, const wpi::Twine& name,
std::string_view GetSinkDescription(CS_Sink sink,
wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
CS_Property GetSinkProperty(CS_Sink sink, std::string_view name,
CS_Status* status);
wpi::ArrayRef<CS_Property> EnumerateSinkProperties(
CS_Sink sink, wpi::SmallVectorImpl<CS_Property>& vec, CS_Status* status);
void SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status);
CS_Property GetSinkSourceProperty(CS_Sink sink, const wpi::Twine& name,
CS_Property GetSinkSourceProperty(CS_Sink sink, std::string_view name,
CS_Status* status);
bool SetSinkConfigJson(CS_Sink sink, wpi::StringRef config, CS_Status* status);
bool SetSinkConfigJson(CS_Sink sink, std::string_view config,
CS_Status* status);
bool SetSinkConfigJson(CS_Sink sink, const wpi::json& config,
CS_Status* status);
std::string GetSinkConfigJson(CS_Sink sink, CS_Status* status);
@@ -363,11 +363,11 @@ int GetMjpegServerPort(CS_Sink sink, CS_Status* status);
* @defgroup cscore_opencv_sink_func OpenCV Sink Functions
* @{
*/
void SetSinkDescription(CS_Sink sink, const wpi::Twine& description,
void SetSinkDescription(CS_Sink sink, std::string_view description,
CS_Status* status);
std::string GetSinkError(CS_Sink sink, CS_Status* status);
wpi::StringRef GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
std::string_view GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
void SetSinkEnabled(CS_Sink sink, bool enabled, CS_Status* status);
/** @} */

18
cscore/src/main/native/include/cscore_cv.h
View File

@@ -82,7 +82,7 @@ class CvSource : public ImageSource {
* @param name Source name (arbitrary unique identifier)
* @param mode Video mode being generated
*/
CvSource(const wpi::Twine& name, const VideoMode& mode);
CvSource(std::string_view name, const VideoMode& mode);
/**
* Create an OpenCV source.
@@ -93,8 +93,8 @@ class CvSource : public ImageSource {
* @param height height
* @param fps fps
*/
CvSource(const wpi::Twine& name, VideoMode::PixelFormat pixelFormat,
int width, int height, int fps);
CvSource(std::string_view name, VideoMode::PixelFormat pixelFormat, int width,
int height, int fps);
/**
* Put an OpenCV image and notify sinks.
@@ -126,7 +126,7 @@ class CvSink : public ImageSink {
*
* @param name Source name (arbitrary unique identifier)
*/
explicit CvSink(const wpi::Twine& name);
explicit CvSink(std::string_view name);
/**
* Create a sink for accepting OpenCV images in a separate thread.
@@ -140,7 +140,7 @@ class CvSink : public ImageSink {
* or GetError() as needed, but should not call (except in very
* unusual circumstances) WaitForImage().
*/
CvSink(const wpi::Twine& name,
CvSink(std::string_view name,
std::function<void(uint64_t time)> processFrame);
/**
@@ -165,11 +165,11 @@ class CvSink : public ImageSink {
uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
};
inline CvSource::CvSource(const wpi::Twine& name, const VideoMode& mode) {
inline CvSource::CvSource(std::string_view name, const VideoMode& mode) {
m_handle = CreateCvSource(name, mode, &m_status);
}
inline CvSource::CvSource(const wpi::Twine& name, VideoMode::PixelFormat format,
inline CvSource::CvSource(std::string_view name, VideoMode::PixelFormat format,
int width, int height, int fps) {
m_handle =
CreateCvSource(name, VideoMode{format, width, height, fps}, &m_status);
@@ -180,11 +180,11 @@ inline void CvSource::PutFrame(cv::Mat& image) {
PutSourceFrame(m_handle, image, &m_status);
}
inline CvSink::CvSink(const wpi::Twine& name) {
inline CvSink::CvSink(std::string_view name) {
m_handle = CreateCvSink(name, &m_status);
}
inline CvSink::CvSink(const wpi::Twine& name,
inline CvSink::CvSink(std::string_view name,
std::function<void(uint64_t time)> processFrame) {
m_handle = CreateCvSinkCallback(name, processFrame, &m_status);
}

73
cscore/src/main/native/include/cscore_oo.h
View File

@@ -7,6 +7,7 @@
#include <initializer_list>
#include <string>
#include <string_view>
#include <utility>
#include <vector>
@@ -71,8 +72,8 @@ class VideoProperty {
// String-specific functions
std::string GetString() const;
wpi::StringRef GetString(wpi::SmallVectorImpl<char>& buf) const;
void SetString(const wpi::Twine& value);
std::string_view GetString(wpi::SmallVectorImpl<char>& buf) const;
void SetString(std::string_view value);
// Enum-specific functions
std::vector<std::string> GetChoices() const;
@@ -194,7 +195,7 @@ class VideoSource {
* @return Property contents (of kind Property::kNone if no property with
* the given name exists)
*/
VideoProperty GetProperty(const wpi::Twine& name);
VideoProperty GetProperty(std::string_view name);
/**
* Enumerate all properties of this source.
@@ -276,7 +277,7 @@ class VideoSource {
* @param config configuration
* @return True if set successfully
*/
bool SetConfigJson(wpi::StringRef config);
bool SetConfigJson(std::string_view config);
/**
* Set video mode and properties from a JSON configuration object.
@@ -424,7 +425,7 @@ class UsbCamera : public VideoCamera {
* @param name Source name (arbitrary unique identifier)
* @param dev Device number (e.g. 0 for /dev/video0)
*/
UsbCamera(const wpi::Twine& name, int dev);
UsbCamera(std::string_view name, int dev);
/**
* Create a source for a USB camera based on device path.
@@ -432,7 +433,7 @@ class UsbCamera : public VideoCamera {
* @param name Source name (arbitrary unique identifier)
* @param path Path to device (e.g. "/dev/video0" on Linux)
*/
UsbCamera(const wpi::Twine& name, const wpi::Twine& path);
UsbCamera(std::string_view name, std::string_view path);
/**
* Enumerate USB cameras on the local system.
@@ -444,7 +445,7 @@ class UsbCamera : public VideoCamera {
/**
* Change the path to the device.
*/
void SetPath(const wpi::Twine& path);
void SetPath(std::string_view path);
/**
* Get the path to the device.
@@ -483,7 +484,7 @@ class HttpCamera : public VideoCamera {
* @param url Camera URL (e.g. "http://10.x.y.11/video/stream.mjpg")
* @param kind Camera kind (e.g. kAxis)
*/
HttpCamera(const wpi::Twine& name, const wpi::Twine& url,
HttpCamera(std::string_view name, std::string_view url,
HttpCameraKind kind = kUnknown);
/**
@@ -493,7 +494,7 @@ class HttpCamera : public VideoCamera {
* @param url Camera URL (e.g. "http://10.x.y.11/video/stream.mjpg")
* @param kind Camera kind (e.g. kAxis)
*/
HttpCamera(const wpi::Twine& name, const char* url,
HttpCamera(std::string_view name, const char* url,
HttpCameraKind kind = kUnknown);
/**
@@ -503,7 +504,7 @@ class HttpCamera : public VideoCamera {
* @param url Camera URL (e.g. "http://10.x.y.11/video/stream.mjpg")
* @param kind Camera kind (e.g. kAxis)
*/
HttpCamera(const wpi::Twine& name, const std::string& url,
HttpCamera(std::string_view name, const std::string& url,
HttpCameraKind kind = kUnknown);
/**
@@ -513,7 +514,7 @@ class HttpCamera : public VideoCamera {
* @param urls Array of Camera URLs
* @param kind Camera kind (e.g. kAxis)
*/
HttpCamera(const wpi::Twine& name, wpi::ArrayRef<std::string> urls,
HttpCamera(std::string_view name, wpi::ArrayRef<std::string> urls,
HttpCameraKind kind = kUnknown);
/**
@@ -524,7 +525,7 @@ class HttpCamera : public VideoCamera {
* @param kind Camera kind (e.g. kAxis)
*/
template <typename T>
HttpCamera(const wpi::Twine& name, std::initializer_list<T> urls,
HttpCamera(std::string_view name, std::initializer_list<T> urls,
HttpCameraKind kind = kUnknown);
/**
@@ -556,7 +557,7 @@ class HttpCamera : public VideoCamera {
* A source that represents an Axis IP camera.
*/
class AxisCamera : public HttpCamera {
static std::string HostToUrl(const wpi::Twine& host);
static std::string HostToUrl(std::string_view host);
static std::vector<std::string> HostToUrl(wpi::ArrayRef<std::string> hosts);
template <typename T>
static std::vector<std::string> HostToUrl(std::initializer_list<T> hosts);
@@ -569,7 +570,7 @@ class AxisCamera : public HttpCamera {
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
* @param kind Camera kind (e.g. kAxis)
*/
AxisCamera(const wpi::Twine& name, const wpi::Twine& host);
AxisCamera(std::string_view name, std::string_view host);
/**
* Create a source for an Axis IP camera.
@@ -578,7 +579,7 @@ class AxisCamera : public HttpCamera {
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
* @param kind Camera kind (e.g. kAxis)
*/
AxisCamera(const wpi::Twine& name, const char* host);
AxisCamera(std::string_view name, const char* host);
/**
* Create a source for an Axis IP camera.
@@ -587,16 +588,7 @@ class AxisCamera : public HttpCamera {
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
* @param kind Camera kind (e.g. kAxis)
*/
AxisCamera(const wpi::Twine& name, const std::string& host);
/**
* Create a source for an Axis IP camera.
*
* @param name Source name (arbitrary unique identifier)
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
* @param kind Camera kind (e.g. kAxis)
*/
AxisCamera(const wpi::Twine& name, wpi::StringRef host);
AxisCamera(std::string_view name, const std::string& host);
/**
* Create a source for an Axis IP camera.
@@ -605,7 +597,7 @@ class AxisCamera : public HttpCamera {
* @param hosts Array of Camera host IPs/DNS names
* @param kind Camera kind (e.g. kAxis)
*/
AxisCamera(const wpi::Twine& name, wpi::ArrayRef<std::string> hosts);
AxisCamera(std::string_view name, wpi::ArrayRef<std::string> hosts);
/**
* Create a source for an Axis IP camera.
@@ -615,7 +607,7 @@ class AxisCamera : public HttpCamera {
* @param kind Camera kind (e.g. kAxis)
*/
template <typename T>
AxisCamera(const wpi::Twine& name, std::initializer_list<T> hosts);
AxisCamera(std::string_view name, std::initializer_list<T> hosts);
};
/**
@@ -630,7 +622,7 @@ class ImageSource : public VideoSource {
* Signal sinks that an error has occurred. This should be called instead
* of NotifyFrame when an error occurs.
*/
void NotifyError(const wpi::Twine& msg);
void NotifyError(std::string_view msg);
/**
* Set source connection status. Defaults to true.
@@ -644,7 +636,7 @@ class ImageSource : public VideoSource {
*
* @param description Description
*/
void SetDescription(const wpi::Twine& description);
void SetDescription(std::string_view description);
/**
* Create a property.
@@ -658,7 +650,7 @@ class ImageSource : public VideoSource {
* @param value Current value
* @return Property
*/
VideoProperty CreateProperty(const wpi::Twine& name, VideoProperty::Kind kind,
VideoProperty CreateProperty(std::string_view name, VideoProperty::Kind kind,
int minimum, int maximum, int step,
int defaultValue, int value);
@@ -673,7 +665,7 @@ class ImageSource : public VideoSource {
* @param value Current value
* @return Property
*/
VideoProperty CreateIntegerProperty(const wpi::Twine& name, int minimum,
VideoProperty CreateIntegerProperty(std::string_view name, int minimum,
int maximum, int step, int defaultValue,
int value);
@@ -685,7 +677,7 @@ class ImageSource : public VideoSource {
* @param value Current value
* @return Property
*/
VideoProperty CreateBooleanProperty(const wpi::Twine& name, bool defaultValue,
VideoProperty CreateBooleanProperty(std::string_view name, bool defaultValue,
bool value);
/**
@@ -696,8 +688,8 @@ class ImageSource : public VideoSource {
* @param value Current value
* @return Property
*/
VideoProperty CreateStringProperty(const wpi::Twine& name,
const wpi::Twine& value);
VideoProperty CreateStringProperty(std::string_view name,
std::string_view value);
/**
* Configure enum property choices.
@@ -772,7 +764,7 @@ class VideoSink {
* @return Property (kind Property::kNone if no property with
* the given name exists)
*/
VideoProperty GetProperty(const wpi::Twine& name);
VideoProperty GetProperty(std::string_view name);
/**
* Enumerate all properties of this sink.
@@ -798,7 +790,7 @@ class VideoSink {
* @param config configuration
* @return True if set successfully
*/
bool SetConfigJson(wpi::StringRef config);
bool SetConfigJson(std::string_view config);
/**
* Set properties from a JSON configuration object.
@@ -845,7 +837,7 @@ class VideoSink {
* @return Property (kind Property::kNone if no property with
* the given name exists or no source connected)
*/
VideoProperty GetSourceProperty(const wpi::Twine& name);
VideoProperty GetSourceProperty(std::string_view name);
CS_Status GetLastStatus() const { return m_status; }
@@ -883,8 +875,7 @@ class MjpegServer : public VideoSink {
* @param listenAddress TCP listen address (empty string for all addresses)
* @param port TCP port number
*/
MjpegServer(const wpi::Twine& name, const wpi::Twine& listenAddress,
int port);
MjpegServer(std::string_view name, std::string_view listenAddress, int port);
/**
* Create a MJPEG-over-HTTP server sink.
@@ -892,7 +883,7 @@ class MjpegServer : public VideoSink {
* @param name Sink name (arbitrary unique identifier)
* @param port TCP port number
*/
MjpegServer(const wpi::Twine& name, int port) : MjpegServer(name, "", port) {}
MjpegServer(std::string_view name, int port) : MjpegServer(name, "", port) {}
/**
* Get the listen address of the server.
@@ -963,7 +954,7 @@ class ImageSink : public VideoSink {
*
* @param description Description
*/
void SetDescription(const wpi::Twine& description);
void SetDescription(std::string_view description);
/**
* Get error string. Call this if WaitForFrame() returns 0 to determine

76
cscore/src/main/native/include/cscore_oo.inc
View File

@@ -6,6 +6,7 @@
#define CSCORE_CSCORE_OO_INC_
#include <string>
#include <string_view>
#include <utility>
#include <vector>
@@ -53,13 +54,13 @@ inline std::string VideoProperty::GetString() const {
return GetStringProperty(m_handle, &m_status);
}
inline wpi::StringRef VideoProperty::GetString(
inline std::string_view VideoProperty::GetString(
wpi::SmallVectorImpl<char>& buf) const {
m_status = 0;
return GetStringProperty(m_handle, buf, &m_status);
}
inline void VideoProperty::SetString(const wpi::Twine& value) {
inline void VideoProperty::SetString(std::string_view value) {
m_status = 0;
SetStringProperty(m_handle, value, &m_status);
}
@@ -139,7 +140,7 @@ inline bool VideoSource::IsEnabled() const {
return IsSourceEnabled(m_handle, &m_status);
}
inline VideoProperty VideoSource::GetProperty(const wpi::Twine& name) {
inline VideoProperty VideoSource::GetProperty(std::string_view name) {
m_status = 0;
return VideoProperty{GetSourceProperty(m_handle, name, &m_status)};
}
@@ -176,7 +177,7 @@ inline bool VideoSource::SetFPS(int fps) {
return SetSourceFPS(m_handle, fps, &m_status);
}
inline bool VideoSource::SetConfigJson(wpi::StringRef config) {
inline bool VideoSource::SetConfigJson(std::string_view config) {
m_status = 0;
return SetSourceConfigJson(m_handle, config, &m_status);
}
@@ -248,11 +249,11 @@ inline void VideoCamera::SetExposureManual(int value) {
SetCameraExposureManual(m_handle, value, &m_status);
}
inline UsbCamera::UsbCamera(const wpi::Twine& name, int dev) {
inline UsbCamera::UsbCamera(std::string_view name, int dev) {
m_handle = CreateUsbCameraDev(name, dev, &m_status);
}
inline UsbCamera::UsbCamera(const wpi::Twine& name, const wpi::Twine& path) {
inline UsbCamera::UsbCamera(std::string_view name, std::string_view path) {
m_handle = CreateUsbCameraPath(name, path, &m_status);
}
@@ -261,7 +262,7 @@ inline std::vector<UsbCameraInfo> UsbCamera::EnumerateUsbCameras() {
return ::cs::EnumerateUsbCameras(&status);
}
inline void UsbCamera::SetPath(const wpi::Twine& path) {
inline void UsbCamera::SetPath(std::string_view path) {
m_status = 0;
return ::cs::SetUsbCameraPath(m_handle, path, &m_status);
}
@@ -282,25 +283,25 @@ inline void UsbCamera::SetConnectVerbose(int level) {
&m_status);
}
inline HttpCamera::HttpCamera(const wpi::Twine& name, const wpi::Twine& url,
inline HttpCamera::HttpCamera(std::string_view name, std::string_view url,
HttpCameraKind kind) {
m_handle = CreateHttpCamera(
name, url, static_cast<CS_HttpCameraKind>(static_cast<int>(kind)),
&m_status);
}
inline HttpCamera::HttpCamera(const wpi::Twine& name, const char* url,
inline HttpCamera::HttpCamera(std::string_view name, const char* url,
HttpCameraKind kind) {
m_handle = CreateHttpCamera(
name, url, static_cast<CS_HttpCameraKind>(static_cast<int>(kind)),
&m_status);
}
inline HttpCamera::HttpCamera(const wpi::Twine& name, const std::string& url,
inline HttpCamera::HttpCamera(std::string_view name, const std::string& url,
HttpCameraKind kind)
: HttpCamera(name, wpi::Twine{url}, kind) {}
: HttpCamera(name, std::string_view{url}, kind) {}
inline HttpCamera::HttpCamera(const wpi::Twine& name,
inline HttpCamera::HttpCamera(std::string_view name,
wpi::ArrayRef<std::string> urls,
HttpCameraKind kind) {
m_handle = CreateHttpCamera(
@@ -309,7 +310,7 @@ inline HttpCamera::HttpCamera(const wpi::Twine& name,
}
template <typename T>
inline HttpCamera::HttpCamera(const wpi::Twine& name,
inline HttpCamera::HttpCamera(std::string_view name,
std::initializer_list<T> urls,
HttpCameraKind kind) {
std::vector<std::string> vec;
@@ -349,16 +350,12 @@ inline std::vector<std::string> HttpCamera::GetUrls() const {
return ::cs::GetHttpCameraUrls(m_handle, &m_status);
}
inline std::string AxisCamera::HostToUrl(const wpi::Twine& host) {
return ("http://" + host + "/mjpg/video.mjpg").str();
}
inline std::vector<std::string> AxisCamera::HostToUrl(
wpi::ArrayRef<std::string> hosts) {
std::vector<std::string> rv;
rv.reserve(hosts.size());
for (const auto& host : hosts) {
rv.emplace_back(HostToUrl(wpi::StringRef{host}));
rv.emplace_back(HostToUrl(std::string_view{host}));
}
return rv;
}
@@ -369,33 +366,30 @@ inline std::vector<std::string> AxisCamera::HostToUrl(
std::vector<std::string> rv;
rv.reserve(hosts.size());
for (const auto& host : hosts) {
rv.emplace_back(HostToUrl(wpi::StringRef{host}));
rv.emplace_back(HostToUrl(std::string_view{host}));
}
return rv;
}
inline AxisCamera::AxisCamera(const wpi::Twine& name, const wpi::Twine& host)
inline AxisCamera::AxisCamera(std::string_view name, std::string_view host)
: HttpCamera(name, HostToUrl(host), kAxis) {}
inline AxisCamera::AxisCamera(const wpi::Twine& name, const char* host)
inline AxisCamera::AxisCamera(std::string_view name, const char* host)
: HttpCamera(name, HostToUrl(host), kAxis) {}
inline AxisCamera::AxisCamera(const wpi::Twine& name, const std::string& host)
: HttpCamera(name, HostToUrl(wpi::Twine{host}), kAxis) {}
inline AxisCamera::AxisCamera(std::string_view name, const std::string& host)
: HttpCamera(name, HostToUrl(std::string_view{host}), kAxis) {}
inline AxisCamera::AxisCamera(const wpi::Twine& name, wpi::StringRef host)
: HttpCamera(name, HostToUrl(host), kAxis) {}
inline AxisCamera::AxisCamera(const wpi::Twine& name,
inline AxisCamera::AxisCamera(std::string_view name,
wpi::ArrayRef<std::string> hosts)
: HttpCamera(name, HostToUrl(hosts), kAxis) {}
template <typename T>
inline AxisCamera::AxisCamera(const wpi::Twine& name,
inline AxisCamera::AxisCamera(std::string_view name,
std::initializer_list<T> hosts)
: HttpCamera(name, HostToUrl(hosts), kAxis) {}
inline void ImageSource::NotifyError(const wpi::Twine& msg) {
inline void ImageSource::NotifyError(std::string_view msg) {
m_status = 0;
NotifySourceError(m_handle, msg, &m_status);
}
@@ -405,12 +399,12 @@ inline void ImageSource::SetConnected(bool connected) {
SetSourceConnected(m_handle, connected, &m_status);
}
inline void ImageSource::SetDescription(const wpi::Twine& description) {
inline void ImageSource::SetDescription(std::string_view description) {
m_status = 0;
SetSourceDescription(m_handle, description, &m_status);
}
inline VideoProperty ImageSource::CreateProperty(const wpi::Twine& name,
inline VideoProperty ImageSource::CreateProperty(std::string_view name,
VideoProperty::Kind kind,
int minimum, int maximum,
int step, int defaultValue,
@@ -421,7 +415,7 @@ inline VideoProperty ImageSource::CreateProperty(const wpi::Twine& name,
minimum, maximum, step, defaultValue, value, &m_status)};
}
inline VideoProperty ImageSource::CreateIntegerProperty(const wpi::Twine& name,
inline VideoProperty ImageSource::CreateIntegerProperty(std::string_view name,
int minimum,
int maximum, int step,
int defaultValue,
@@ -434,7 +428,7 @@ inline VideoProperty ImageSource::CreateIntegerProperty(const wpi::Twine& name,
minimum, maximum, step, defaultValue, value, &m_status)};
}
inline VideoProperty ImageSource::CreateBooleanProperty(const wpi::Twine& name,
inline VideoProperty ImageSource::CreateBooleanProperty(std::string_view name,
bool defaultValue,
bool value) {
m_status = 0;
@@ -445,8 +439,8 @@ inline VideoProperty ImageSource::CreateBooleanProperty(const wpi::Twine& name,
0, 1, 1, defaultValue ? 1 : 0, value ? 1 : 0, &m_status)};
}
inline VideoProperty ImageSource::CreateStringProperty(
const wpi::Twine& name, const wpi::Twine& value) {
inline VideoProperty ImageSource::CreateStringProperty(std::string_view name,
std::string_view value) {
m_status = 0;
auto prop = VideoProperty{
CreateSourceProperty(m_handle, name,
@@ -509,7 +503,7 @@ inline std::string VideoSink::GetDescription() const {
return GetSinkDescription(m_handle, &m_status);
}
inline VideoProperty VideoSink::GetProperty(const wpi::Twine& name) {
inline VideoProperty VideoSink::GetProperty(std::string_view name) {
m_status = 0;
return VideoProperty{GetSinkProperty(m_handle, name, &m_status)};
}
@@ -529,12 +523,12 @@ inline VideoSource VideoSink::GetSource() const {
return VideoSource{handle == 0 ? 0 : CopySource(handle, &m_status)};
}
inline VideoProperty VideoSink::GetSourceProperty(const wpi::Twine& name) {
inline VideoProperty VideoSink::GetSourceProperty(std::string_view name) {
m_status = 0;
return VideoProperty{GetSinkSourceProperty(m_handle, name, &m_status)};
}
inline bool VideoSink::SetConfigJson(wpi::StringRef config) {
inline bool VideoSink::SetConfigJson(std::string_view config) {
m_status = 0;
return SetSinkConfigJson(m_handle, config, &m_status);
}
@@ -549,8 +543,8 @@ inline std::string VideoSink::GetConfigJson() const {
return GetSinkConfigJson(m_handle, &m_status);
}
inline MjpegServer::MjpegServer(const wpi::Twine& name,
const wpi::Twine& listenAddress, int port) {
inline MjpegServer::MjpegServer(std::string_view name,
std::string_view listenAddress, int port) {
m_handle = CreateMjpegServer(name, listenAddress, port, &m_status);
}
@@ -588,7 +582,7 @@ inline void MjpegServer::SetDefaultCompression(int quality) {
quality, &m_status);
}
inline void ImageSink::SetDescription(const wpi::Twine& description) {
inline void ImageSink::SetDescription(std::string_view description) {
m_status = 0;
SetSinkDescription(m_handle, description, &m_status);
}

22
cscore/src/main/native/include/cscore_raw.h
View File

@@ -78,11 +78,11 @@ struct RawFrame : public CS_RawFrame {
* @{
*/
CS_Source CreateRawSource(const wpi::Twine& name, const VideoMode& mode,
CS_Source CreateRawSource(std::string_view name, const VideoMode& mode,
CS_Status* status);
CS_Sink CreateRawSink(const wpi::Twine& name, CS_Status* status);
CS_Sink CreateRawSinkCallback(const wpi::Twine& name,
CS_Sink CreateRawSink(std::string_view name, CS_Status* status);
CS_Sink CreateRawSinkCallback(std::string_view name,
std::function<void(uint64_t time)> processFrame,
CS_Status* status);
@@ -107,7 +107,7 @@ class RawSource : public ImageSource {
* @param name Source name (arbitrary unique identifier)
* @param mode Video mode being generated
*/
RawSource(const wpi::Twine& name, const VideoMode& mode);
RawSource(std::string_view name, const VideoMode& mode);
/**
* Create a raw frame source.
@@ -118,7 +118,7 @@ class RawSource : public ImageSource {
* @param height height
* @param fps fps
*/
RawSource(const wpi::Twine& name, VideoMode::PixelFormat pixelFormat,
RawSource(std::string_view name, VideoMode::PixelFormat pixelFormat,
int width, int height, int fps);
protected:
@@ -147,7 +147,7 @@ class RawSink : public ImageSink {
*
* @param name Source name (arbitrary unique identifier)
*/
explicit RawSink(const wpi::Twine& name);
explicit RawSink(std::string_view name);
/**
* Create a sink for accepting raws images in a separate thread.
@@ -161,7 +161,7 @@ class RawSink : public ImageSink {
* or GetError() as needed, but should not call (except in very
* unusual circumstances) WaitForImage().
*/
RawSink(const wpi::Twine& name,
RawSink(std::string_view name,
std::function<void(uint64_t time)> processFrame);
protected:
@@ -187,11 +187,11 @@ class RawSink : public ImageSink {
uint64_t GrabFrameNoTimeout(RawFrame& image) const;
};
inline RawSource::RawSource(const wpi::Twine& name, const VideoMode& mode) {
inline RawSource::RawSource(std::string_view name, const VideoMode& mode) {
m_handle = CreateRawSource(name, mode, &m_status);
}
inline RawSource::RawSource(const wpi::Twine& name,
inline RawSource::RawSource(std::string_view name,
VideoMode::PixelFormat format, int width,
int height, int fps) {
m_handle =
@@ -203,11 +203,11 @@ inline void RawSource::PutFrame(RawFrame& image) {
PutSourceFrame(m_handle, image, &m_status);
}
inline RawSink::RawSink(const wpi::Twine& name) {
inline RawSink::RawSink(std::string_view name) {
m_handle = CreateRawSink(name, &m_status);
}
inline RawSink::RawSink(const wpi::Twine& name,
inline RawSink::RawSink(std::string_view name,
std::function<void(uint64_t time)> processFrame) {
m_handle = CreateRawSinkCallback(name, processFrame, &m_status);
}

16
cscore/src/main/native/include/cscore_raw_cv.h
View File

@@ -32,7 +32,7 @@ class RawCvSource : public RawSource {
* @param name Source name (arbitrary unique identifier)
* @param mode Video mode being generated
*/
RawCvSource(const wpi::Twine& name, const VideoMode& mode);
RawCvSource(std::string_view name, const VideoMode& mode);
/**
* Create a Raw OpenCV source.
@@ -43,7 +43,7 @@ class RawCvSource : public RawSource {
* @param height height
* @param fps fps
*/
RawCvSource(const wpi::Twine& name, VideoMode::PixelFormat pixelFormat,
RawCvSource(std::string_view name, VideoMode::PixelFormat pixelFormat,
int width, int height, int fps);
/**
@@ -83,7 +83,7 @@ class RawCvSink : public RawSink {
*
* @param name Source name (arbitrary unique identifier)
*/
explicit RawCvSink(const wpi::Twine& name);
explicit RawCvSink(std::string_view name);
/**
* Create a sink for accepting OpenCV images in a separate thread.
@@ -97,7 +97,7 @@ class RawCvSink : public RawSink {
* or GetError() as needed, but should not call (except in very
* unusual circumstances) WaitForImage().
*/
RawCvSink(const wpi::Twine& name,
RawCvSink(std::string_view name,
std::function<void(uint64_t time)> processFrame);
/**
@@ -146,10 +146,10 @@ class RawCvSink : public RawSink {
RawFrame rawFrame;
};
inline RawCvSource::RawCvSource(const wpi::Twine& name, const VideoMode& mode)
inline RawCvSource::RawCvSource(std::string_view name, const VideoMode& mode)
: RawSource{name, mode} {}
inline RawCvSource::RawCvSource(const wpi::Twine& name,
inline RawCvSource::RawCvSource(std::string_view name,
VideoMode::PixelFormat format, int width,
int height, int fps)
: RawSource{name, format, width, height, fps} {}
@@ -164,9 +164,9 @@ inline void RawCvSource::PutFrame(cv::Mat& image) {
PutSourceFrame(m_handle, rawFrame, &m_status);
}
inline RawCvSink::RawCvSink(const wpi::Twine& name) : RawSink{name} {}
inline RawCvSink::RawCvSink(std::string_view name) : RawSink{name} {}
inline RawCvSink::RawCvSink(const wpi::Twine& name,
inline RawCvSink::RawCvSink(std::string_view name,
std::function<void(uint64_t time)> processFrame)
: RawSink{name, processFrame} {}

14
cscore/src/main/native/linux/NetworkListener.cpp
View File

@@ -70,15 +70,15 @@ void NetworkListener::Impl::Thread::Main() {
// Create event socket so we can be shut down
m_command_fd = ::eventfd(0, 0);
if (m_command_fd < 0) {
ERROR(
"NetworkListener: could not create eventfd: " << std::strerror(errno));
ERROR("NetworkListener: could not create eventfd: {}",
std::strerror(errno));
return;
}
// Create netlink socket
int sd = ::socket(AF_NETLINK, SOCK_RAW, NETLINK_ROUTE);
if (sd < 0) {
ERROR("NetworkListener: could not create socket: " << std::strerror(errno));
ERROR("NetworkListener: could not create socket: {}", std::strerror(errno));
::close(m_command_fd);
m_command_fd = -1;
return;
@@ -90,7 +90,7 @@ void NetworkListener::Impl::Thread::Main() {
addr.nl_family = AF_NETLINK;
addr.nl_groups = RTMGRP_LINK | RTMGRP_IPV4_IFADDR;
if (bind(sd, reinterpret_cast<struct sockaddr*>(&addr), sizeof(addr)) < 0) {
ERROR("NetworkListener: could not create socket: " << std::strerror(errno));
ERROR("NetworkListener: could not create socket: {}", std::strerror(errno));
::close(sd);
::close(m_command_fd);
m_command_fd = -1;
@@ -113,7 +113,7 @@ void NetworkListener::Impl::Thread::Main() {
int nfds = std::max(m_command_fd, sd) + 1;
if (::select(nfds, &readfds, nullptr, nullptr, &tv) < 0) {
ERROR("NetworkListener: select(): " << std::strerror(errno));
ERROR("NetworkListener: select(): {}", std::strerror(errno));
break; // XXX: is this the right thing to do here?
}
@@ -134,8 +134,8 @@ void NetworkListener::Impl::Thread::Main() {
if (errno == EWOULDBLOCK || errno == EAGAIN) {
continue;
}
ERROR(
"NetworkListener: could not read netlink: " << std::strerror(errno));
ERROR("NetworkListener: could not read netlink: {}",
std::strerror(errno));
break; // XXX: is this the right thing to do here?
}
if (len == 0) {

212
cscore/src/main/native/linux/UsbCameraImpl.cpp
View File

@@ -22,8 +22,10 @@
#include <algorithm>
#include <memory>
#include <fmt/format.h>
#include <wpi/MemAlloc.h>
#include <wpi/SmallString.h>
#include <wpi/StringExtras.h>
#include <wpi/fs.h>
#include <wpi/raw_ostream.h>
#include <wpi/timestamp.h>
@@ -95,8 +97,8 @@ static __u32 FromPixelFormat(VideoMode::PixelFormat pixelFormat) {
}
}
static bool IsPercentageProperty(wpi::StringRef name) {
if (name.startswith("raw_")) {
static bool IsPercentageProperty(std::string_view name) {
if (wpi::starts_with(name, "raw_")) {
name = name.substr(4);
}
return name == "brightness" || name == "contrast" || name == "saturation" ||
@@ -154,11 +156,8 @@ int UsbCameraImpl::PercentageToRaw(const UsbCameraProperty& rawProp,
}
static bool GetVendorProduct(int dev, int* vendor, int* product) {
wpi::SmallString<64> ifpath;
{
wpi::raw_svector_ostream oss{ifpath};
oss << "/sys/class/video4linux/video" << dev << "/device/modalias";
}
auto ifpath =
fmt::format("/sys/class/video4linux/video{}/device/modalias", dev);
int fd = open(ifpath.c_str(), O_RDONLY);
if (fd < 0) {
@@ -172,15 +171,17 @@ static bool GetVendorProduct(int dev, int* vendor, int* product) {
if (n <= 0) {
return false;
}
wpi::StringRef readStr{readBuf};
if (readStr.substr(readStr.find('v'))
.substr(1, 4)
.getAsInteger(16, *vendor)) {
std::string_view readStr{readBuf};
if (auto v = wpi::parse_integer<int>(
readStr.substr(readStr.find('v')).substr(1, 4), 16)) {
*vendor = v.value();
} else {
return false;
}
if (readStr.substr(readStr.find('p'))
.substr(1, 4)
.getAsInteger(16, *product)) {
if (auto v = wpi::parse_integer<int>(
readStr.substr(readStr.find('p')).substr(1, 4), 16)) {
*product = v.value();
} else {
return false;
}
@@ -188,11 +189,8 @@ static bool GetVendorProduct(int dev, int* vendor, int* product) {
}
static bool GetDescriptionSysV4L(int dev, std::string* desc) {
wpi::SmallString<64> ifpath;
{
wpi::raw_svector_ostream oss{ifpath};
oss << "/sys/class/video4linux/video" << dev << "/device/interface";
}
auto ifpath =
fmt::format("/sys/class/video4linux/video{}/device/interface", dev);
int fd = open(ifpath.c_str(), O_RDONLY);
if (fd < 0) {
@@ -207,7 +205,7 @@ static bool GetDescriptionSysV4L(int dev, std::string* desc) {
return false;
}
*desc = wpi::StringRef(readBuf, n).rtrim();
*desc = wpi::rtrim(std::string_view(readBuf, n));
return true;
}
@@ -225,17 +223,16 @@ static bool GetDescriptionIoctl(const char* cpath, std::string* desc) {
}
close(fd);
wpi::StringRef card{reinterpret_cast<const char*>(vcap.card)};
std::string_view card{reinterpret_cast<const char*>(vcap.card)};
// try to convert "UVC Camera (0000:0000)" into a better name
int vendor = 0;
int product = 0;
if (card.startswith("UVC Camera (") &&
!card.substr(12, 4).getAsInteger(16, vendor) &&
!card.substr(17, 4).getAsInteger(16, product)) {
wpi::SmallString<64> card2Buf;
wpi::StringRef card2 = GetUsbNameFromId(vendor, product, card2Buf);
std::optional<int> vendor;
std::optional<int> product;
if (wpi::starts_with(card, "UVC Camera (") &&
(vendor = wpi::parse_integer<int>(card.substr(12, 4), 16)) &&
(product = wpi::parse_integer<int>(card.substr(17, 4), 16))) {
std::string card2 = GetUsbNameFromId(vendor.value(), product.value());
if (!card2.empty()) {
*desc = card2;
*desc = std::move(card2);
return true;
}
}
@@ -274,15 +271,14 @@ static int GetDeviceNum(const char* cpath) {
path = fs::canonical(path);
}
auto fn = path.filename();
if (!wpi::StringRef{fn}.startswith("video")) {
std::string fn = path.filename();
if (!wpi::starts_with(fn, "video")) {
return -1;
}
int dev = -1;
if (wpi::StringRef{fn}.substr(5).getAsInteger(10, dev)) {
return -1;
if (auto dev = wpi::parse_integer<int>(fn.substr(5), 10)) {
return dev.value();
}
return dev;
return -1;
}
static std::string GetDescriptionImpl(const char* cpath) {
@@ -304,14 +300,14 @@ static std::string GetDescriptionImpl(const char* cpath) {
return std::string{};
}
UsbCameraImpl::UsbCameraImpl(const wpi::Twine& name, wpi::Logger& logger,
UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
const wpi::Twine& path)
std::string_view path)
: SourceImpl{name, logger, notifier, telemetry},
m_fd{-1},
m_command_fd{eventfd(0, 0)},
m_active{true},
m_path{path.str()} {
m_path{path} {
SetDescription(GetDescriptionImpl(m_path.c_str()));
SetQuirks();
@@ -439,7 +435,7 @@ void UsbCameraImpl::CameraThreadMain() {
DoFdSet(notify_fd, &readfds, &nfds);
if (select(nfds, &readfds, nullptr, nullptr, &tv) < 0) {
SERROR("select(): " << std::strerror(errno));
SERROR("select(): {}", std::strerror(errno));
break; // XXX: is this the right thing to do here?
}
@@ -450,7 +446,7 @@ void UsbCameraImpl::CameraThreadMain() {
// Handle notify events
if (notify_fd >= 0 && FD_ISSET(notify_fd, &readfds)) {
SDEBUG4("notify event");
SDEBUG4("{}", "notify event");
struct inotify_event event;
do {
// Read the event structure
@@ -460,10 +456,9 @@ void UsbCameraImpl::CameraThreadMain() {
raw_name.resize(event.len);
notify_is->read(raw_name.data(), event.len);
// If the name is what we expect...
wpi::StringRef name{raw_name.c_str()};
SDEBUG4("got event on '" << name << "' (" << name.size()
<< ") compare to '" << base << "' ("
<< base.size() << ") mask " << event.mask);
std::string_view name{raw_name.c_str()};
SDEBUG4("got event on '{}' ({}) compare to '{}' ({}) mask {}", name,
name.size(), base, base.size(), event.mask);
if (name == base) {
if ((event.mask & IN_DELETE) != 0) {
wasStreaming = m_streaming;
@@ -480,7 +475,7 @@ void UsbCameraImpl::CameraThreadMain() {
// Handle commands
if (command_fd >= 0 && FD_ISSET(command_fd, &readfds)) {
SDEBUG4("got command");
SDEBUG4("{}", "got command");
// Read it to clear
eventfd_t val;
eventfd_read(command_fd, &val);
@@ -490,7 +485,7 @@ void UsbCameraImpl::CameraThreadMain() {
// Handle frames
if (m_streaming && fd >= 0 && FD_ISSET(fd, &readfds)) {
SDEBUG4("grabbing image");
SDEBUG4("{}", "grabbing image");
// Dequeue buffer
struct v4l2_buffer buf;
@@ -498,7 +493,7 @@ void UsbCameraImpl::CameraThreadMain() {
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (DoIoctl(fd, VIDIOC_DQBUF, &buf) != 0) {
SWARNING("could not dequeue buffer");
SWARNING("{}", "could not dequeue buffer");
wasStreaming = m_streaming;
DeviceStreamOff();
DeviceDisconnect();
@@ -507,14 +502,14 @@ void UsbCameraImpl::CameraThreadMain() {
}
if ((buf.flags & V4L2_BUF_FLAG_ERROR) == 0) {
SDEBUG4("got image size=" << buf.bytesused << " index=" << buf.index);
SDEBUG4("got image size={} index={}", buf.bytesused, buf.index);
if (buf.index >= kNumBuffers || !m_buffers[buf.index].m_data) {
SWARNING("invalid buffer" << buf.index);
SWARNING("invalid buffer {}", buf.index);
continue;
}
wpi::StringRef image{
std::string_view image{
static_cast<const char*>(m_buffers[buf.index].m_data),
static_cast<size_t>(buf.bytesused)};
int width = m_mode.width;
@@ -522,7 +517,7 @@ void UsbCameraImpl::CameraThreadMain() {
bool good = true;
if (m_mode.pixelFormat == VideoMode::kMJPEG &&
!GetJpegSize(image, &width, &height)) {
SWARNING("invalid JPEG image received from camera");
SWARNING("{}", "invalid JPEG image received from camera");
good = false;
}
if (good) {
@@ -533,7 +528,7 @@ void UsbCameraImpl::CameraThreadMain() {
// Requeue buffer
if (DoIoctl(fd, VIDIOC_QBUF, &buf) != 0) {
SWARNING("could not requeue buffer");
SWARNING("{}", "could not requeue buffer");
wasStreaming = m_streaming;
DeviceStreamOff();
DeviceDisconnect();
@@ -572,11 +567,11 @@ void UsbCameraImpl::DeviceConnect() {
}
if (m_connectVerbose) {
SINFO("Connecting to USB camera on " << m_path);
SINFO("Connecting to USB camera on {}", m_path);
}
// Try to open the device
SDEBUG3("opening device");
SDEBUG3("{}", "opening device");
int fd = open(m_path.c_str(), O_RDWR);
if (fd < 0) {
return;
@@ -584,7 +579,7 @@ void UsbCameraImpl::DeviceConnect() {
m_fd = fd;
// Get capabilities
SDEBUG3("getting capabilities");
SDEBUG3("{}", "getting capabilities");
struct v4l2_capability vcap;
std::memset(&vcap, 0, sizeof(vcap));
if (DoIoctl(fd, VIDIOC_QUERYCAP, &vcap) >= 0) {
@@ -596,18 +591,18 @@ void UsbCameraImpl::DeviceConnect() {
// Get or restore video mode
if (!m_properties_cached) {
SDEBUG3("caching properties");
SDEBUG3("{}", "caching properties");
DeviceCacheProperties();
DeviceCacheVideoModes();
DeviceCacheMode();
m_properties_cached = true;
} else {
SDEBUG3("restoring video mode");
SDEBUG3("{}", "restoring video mode");
DeviceSetMode();
DeviceSetFPS();
// Restore settings
SDEBUG3("restoring settings");
SDEBUG3("{}", "restoring settings");
std::unique_lock lock2(m_mutex);
for (size_t i = 0; i < m_propertyData.size(); ++i) {
const auto prop =
@@ -616,27 +611,27 @@ void UsbCameraImpl::DeviceConnect() {
continue;
}
if (!prop->DeviceSet(lock2, m_fd)) {
SWARNING("failed to set property " << prop->name);
SWARNING("failed to set property {}", prop->name);
}
}
}
// Request buffers
SDEBUG3("allocating buffers");
SDEBUG3("{}", "allocating buffers");
struct v4l2_requestbuffers rb;
std::memset(&rb, 0, sizeof(rb));
rb.count = kNumBuffers;
rb.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
rb.memory = V4L2_MEMORY_MMAP;
if (DoIoctl(fd, VIDIOC_REQBUFS, &rb) != 0) {
SWARNING("could not allocate buffers");
SWARNING("{}", "could not allocate buffers");
close(fd);
m_fd = -1;
return;
}
// Map buffers
SDEBUG3("mapping buffers");
SDEBUG3("{}", "mapping buffers");
for (int i = 0; i < kNumBuffers; ++i) {
struct v4l2_buffer buf;
std::memset(&buf, 0, sizeof(buf));
@@ -644,17 +639,16 @@ void UsbCameraImpl::DeviceConnect() {
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (DoIoctl(fd, VIDIOC_QUERYBUF, &buf) != 0) {
SWARNING("could not query buffer " << i);
SWARNING("could not query buffer {}", i);
close(fd);
m_fd = -1;
return;
}
SDEBUG4("buf " << i << " length=" << buf.length
<< " offset=" << buf.m.offset);
SDEBUG4("buf {} length={} offset={}", i, buf.length, buf.m.offset);
m_buffers[i] = UsbCameraBuffer(fd, buf.length, buf.m.offset);
if (!m_buffers[i].m_data) {
SWARNING("could not map buffer " << i);
SWARNING("could not map buffer {}", i);
// release other buffers
for (int j = 0; j < i; ++j) {
m_buffers[j] = UsbCameraBuffer{};
@@ -664,7 +658,7 @@ void UsbCameraImpl::DeviceConnect() {
return;
}
SDEBUG4("buf " << i << " address=" << m_buffers[i].m_data);
SDEBUG4("buf {} address={}", i, m_buffers[i].m_data);
}
// Update description (as it may have changed)
@@ -687,7 +681,7 @@ bool UsbCameraImpl::DeviceStreamOn() {
}
// Queue buffers
SDEBUG3("queuing buffers");
SDEBUG3("{}", "queuing buffers");
for (int i = 0; i < kNumBuffers; ++i) {
struct v4l2_buffer buf;
std::memset(&buf, 0, sizeof(buf));
@@ -695,7 +689,7 @@ bool UsbCameraImpl::DeviceStreamOn() {
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (DoIoctl(fd, VIDIOC_QBUF, &buf) != 0) {
SWARNING("could not queue buffer " << i);
SWARNING("could not queue buffer {}", i);
return false;
}
}
@@ -706,16 +700,17 @@ bool UsbCameraImpl::DeviceStreamOn() {
if (errno == ENOSPC) {
// indicates too much USB bandwidth requested
SERROR(
"{}",
"could not start streaming due to USB bandwidth limitations; try a "
"lower resolution or a different pixel format (VIDIOC_STREAMON: "
"No space left on device)");
} else {
// some other error
SERROR("ioctl VIDIOC_STREAMON failed: " << std::strerror(errno));
SERROR("ioctl VIDIOC_STREAMON failed: {}", std::strerror(errno));
}
return false;
}
SDEBUG4("enabled streaming");
SDEBUG4("{}", "enabled streaming");
m_streaming = true;
return true;
}
@@ -732,7 +727,7 @@ bool UsbCameraImpl::DeviceStreamOff() {
if (DoIoctl(fd, VIDIOC_STREAMOFF, &type) != 0) {
return false;
}
SDEBUG4("disabled streaming");
SDEBUG4("{}", "disabled streaming");
m_streaming = false;
return true;
}
@@ -806,7 +801,7 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetProperty(
bool setString = (msg.kind == Message::kCmdSetPropertyStr);
int property = msg.data[0];
int value = msg.data[1];
wpi::StringRef valueStr = msg.dataStr;
std::string_view valueStr = msg.dataStr;
// Look up
auto prop = static_cast<UsbCameraProperty*>(GetProperty(property));
@@ -940,19 +935,19 @@ void UsbCameraImpl::DeviceSetMode() {
vfmt.fmt.pix.pixelformat =
FromPixelFormat(static_cast<VideoMode::PixelFormat>(m_mode.pixelFormat));
if (vfmt.fmt.pix.pixelformat == 0) {
SWARNING("could not set format " << m_mode.pixelFormat
<< ", defaulting to MJPEG");
SWARNING("could not set format {}, defaulting to MJPEG",
m_mode.pixelFormat);
vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG;
}
vfmt.fmt.pix.width = m_mode.width;
vfmt.fmt.pix.height = m_mode.height;
vfmt.fmt.pix.field = V4L2_FIELD_ANY;
if (DoIoctl(fd, VIDIOC_S_FMT, &vfmt) != 0) {
SWARNING("could not set format " << m_mode.pixelFormat << " res "
<< m_mode.width << "x" << m_mode.height);
SWARNING("could not set format {} res {}x{}", m_mode.pixelFormat,
m_mode.width, m_mode.height);
} else {
SINFO("set format " << m_mode.pixelFormat << " res " << m_mode.width << "x"
<< m_mode.height);
SINFO("set format {} res {}x{}", m_mode.pixelFormat, m_mode.width,
m_mode.height);
}
}
@@ -975,9 +970,9 @@ void UsbCameraImpl::DeviceSetFPS() {
parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
parm.parm.capture.timeperframe = FPSToFract(m_mode.fps);
if (DoIoctl(fd, VIDIOC_S_PARM, &parm) != 0) {
SWARNING("could not set FPS to " << m_mode.fps);
SWARNING("could not set FPS to {}", m_mode.fps);
} else {
SINFO("set FPS to " << m_mode.fps);
SINFO("set FPS to {}", m_mode.fps);
}
}
@@ -997,7 +992,7 @@ void UsbCameraImpl::DeviceCacheMode() {
#endif
vfmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (DoIoctl(fd, VIDIOC_G_FMT, &vfmt) != 0) {
SERROR("could not read current video mode");
SERROR("{}", "could not read current video mode");
std::scoped_lock lock(m_mutex);
m_mode = VideoMode{VideoMode::kMJPEG, 320, 240, 30};
return;
@@ -1133,7 +1128,7 @@ void UsbCameraImpl::DeviceCacheProperty(
} else {
// Read current raw value and set percentage from it
if (!rawProp->DeviceGet(lock, m_fd)) {
SWARNING("failed to get property " << rawProp->name);
SWARNING("failed to get property {}", rawProp->name);
}
if (perProp) {
@@ -1145,7 +1140,7 @@ void UsbCameraImpl::DeviceCacheProperty(
// Set value on device if user-configured
if (rawProp->valueSet) {
if (!rawProp->DeviceSet(lock, m_fd)) {
SWARNING("failed to set property " << rawProp->name);
SWARNING("failed to set property {}", rawProp->name);
}
}
@@ -1360,7 +1355,7 @@ void UsbCameraImpl::Send(Message&& msg) const {
}
std::unique_ptr<PropertyImpl> UsbCameraImpl::CreateEmptyProperty(
const wpi::Twine& name) const {
std::string_view name) const {
return std::make_unique<UsbCameraProperty>(name);
}
@@ -1379,10 +1374,10 @@ bool UsbCameraImpl::CacheProperties(CS_Status* status) const {
void UsbCameraImpl::SetQuirks() {
wpi::SmallString<128> descbuf;
wpi::StringRef desc = GetDescription(descbuf);
m_lifecam_exposure =
desc.endswith("LifeCam HD-3000") || desc.endswith("LifeCam Cinema (TM)");
m_picamera = desc.startswith("mmal service");
std::string_view desc = GetDescription(descbuf);
m_lifecam_exposure = wpi::ends_with(desc, "LifeCam HD-3000") ||
wpi::ends_with(desc, "LifeCam Cinema (TM)");
m_picamera = wpi::ends_with(desc, "mmal service");
int deviceNum = GetDeviceNum(m_path.c_str());
if (deviceNum >= 0) {
@@ -1400,11 +1395,11 @@ void UsbCameraImpl::SetProperty(int property, int value, CS_Status* status) {
*status = SendAndWait(std::move(msg));
}
void UsbCameraImpl::SetStringProperty(int property, const wpi::Twine& value,
void UsbCameraImpl::SetStringProperty(int property, std::string_view value,
CS_Status* status) {
Message msg{Message::kCmdSetPropertyStr};
msg.data[0] = property;
msg.dataStr = value.str();
msg.dataStr = value;
*status = SendAndWait(std::move(msg));
}
@@ -1524,9 +1519,9 @@ void UsbCameraImpl::NumSinksEnabledChanged() {
Send(Message{Message::kNumSinksEnabledChanged});
}
void UsbCameraImpl::SetPath(const wpi::Twine& path, CS_Status* status) {
void UsbCameraImpl::SetPath(std::string_view path, CS_Status* status) {
Message msg{Message::kCmdSetPath};
msg.dataStr = path.str();
msg.dataStr = path;
*status = SendAndWait(std::move(msg));
}
@@ -1537,15 +1532,12 @@ std::string UsbCameraImpl::GetPath() const {
namespace cs {
CS_Source CreateUsbCameraDev(const wpi::Twine& name, int dev,
CS_Source CreateUsbCameraDev(std::string_view name, int dev,
CS_Status* status) {
wpi::SmallString<32> path;
wpi::raw_svector_ostream oss{path};
oss << "/dev/video" << dev;
return CreateUsbCameraPath(name, oss.str(), status);
return CreateUsbCameraPath(name, fmt::format("/dev/video{}", dev), status);
}
CS_Source CreateUsbCameraPath(const wpi::Twine& name, const wpi::Twine& path,
CS_Source CreateUsbCameraPath(std::string_view name, std::string_view path,
CS_Status* status) {
auto& inst = Instance::GetInstance();
return inst.CreateSource(CS_SOURCE_USB, std::make_shared<UsbCameraImpl>(
@@ -1553,7 +1545,7 @@ CS_Source CreateUsbCameraPath(const wpi::Twine& name, const wpi::Twine& path,
inst.telemetry, path));
}
void SetUsbCameraPath(CS_Source source, const wpi::Twine& path,
void SetUsbCameraPath(CS_Source source, std::string_view path,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data || data->kind != CS_SOURCE_USB) {
@@ -1629,13 +1621,15 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
if (DIR* dp = ::opendir("/dev")) {
while (struct dirent* ep = ::readdir(dp)) {
wpi::StringRef fname{ep->d_name};
if (!fname.startswith("video")) {
std::string_view fname{ep->d_name};
if (!wpi::starts_with(fname, "video")) {
continue;
}
unsigned int dev = 0;
if (fname.substr(5).getAsInteger(10, dev)) {
if (auto v = wpi::parse_integer<unsigned int>(fname.substr(5), 10)) {
dev = v.value();
} else {
continue;
}
@@ -1665,7 +1659,7 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
::closedir(dp);
} else {
// *status = ;
WPI_ERROR(Instance::GetInstance().logger, "Could not open /dev");
WPI_ERROR(Instance::GetInstance().logger, "{}", "Could not open /dev");
return retval;
}
@@ -1682,11 +1676,11 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
char* target = ::realpath(path.c_str(), nullptr);
if (target) {
std::string fname = fs::path{target}.filename();
unsigned int dev = 0;
if (wpi::StringRef{fname}.startswith("video") &&
!wpi::StringRef{fname}.substr(5).getAsInteger(10, dev) &&
dev < retval.size()) {
retval[dev].otherPaths.emplace_back(path.str());
std::optional<unsigned int> dev;
if (wpi::starts_with(fname, "video") &&
(dev = wpi::parse_integer<unsigned int>(fname.substr(5), 10)) &&
dev.value() < retval.size()) {
retval[dev.value()].otherPaths.emplace_back(path.str());
}
std::free(target);
}

12
cscore/src/main/native/linux/UsbCameraImpl.h
View File

@@ -10,13 +10,13 @@
#include <atomic>
#include <memory>
#include <string>
#include <string_view>
#include <thread>
#include <utility>
#include <vector>
#include <wpi/STLExtras.h>
#include <wpi/SmallVector.h>
#include <wpi/Twine.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
#include <wpi/raw_istream.h>
@@ -33,15 +33,15 @@ class Telemetry;
class UsbCameraImpl : public SourceImpl {
public:
UsbCameraImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry, const wpi::Twine& path);
UsbCameraImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry, std::string_view path);
~UsbCameraImpl() override;
void Start() override;
// Property functions
void SetProperty(int property, int value, CS_Status* status) override;
void SetStringProperty(int property, const wpi::Twine& value,
void SetStringProperty(int property, std::string_view value,
CS_Status* status) override;
// Standard common camera properties
@@ -63,7 +63,7 @@ class UsbCameraImpl : public SourceImpl {
void NumSinksChanged() override;
void NumSinksEnabledChanged() override;
void SetPath(const wpi::Twine& path, CS_Status* status);
void SetPath(std::string_view path, CS_Status* status);
std::string GetPath() const;
// Messages passed to/from camera thread
@@ -95,7 +95,7 @@ class UsbCameraImpl : public SourceImpl {
protected:
std::unique_ptr<PropertyImpl> CreateEmptyProperty(
const wpi::Twine& name) const override;
std::string_view name) const override;
// Cache properties. Immediately successful if properties are already cached.
// If they are not, tries to connect to the camera to do so; returns false and

3
cscore/src/main/native/linux/UsbCameraListener.cpp
View File

@@ -5,6 +5,7 @@
#include "UsbCameraListener.h"
#include <wpi/EventLoopRunner.h>
#include <wpi/StringExtras.h>
#include <wpi/uv/FsEvent.h>
#include <wpi/uv/Timer.h>
@@ -38,7 +39,7 @@ void UsbCameraListener::Start() {
auto devEvents = wpi::uv::FsEvent::Create(loop);
devEvents->fsEvent.connect([refreshTimer](const char* fn, int flags) {
if (wpi::StringRef(fn).startswith("video")) {
if (wpi::starts_with(fn, "video")) {
refreshTimer->Start(wpi::uv::Timer::Time(200));
}
});

40
cscore/src/main/native/linux/UsbCameraProperty.cpp
View File

@@ -4,8 +4,8 @@
#include "UsbCameraProperty.h"
#include <fmt/format.h>
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h>
#include "UsbUtil.h"
@@ -92,15 +92,8 @@ static int GetStringCtrlIoctl(int fd, int id, int maximum, std::string* value) {
}
static int SetStringCtrlIoctl(int fd, int id, int maximum,
const wpi::Twine& value) {
wpi::SmallString<64> strBuf, strBuf2;
wpi::StringRef str = value.toNullTerminatedStringRef(strBuf);
if (str.size() > static_cast<size_t>(maximum)) {
// don't know if strBuf was used, just recopy
strBuf2 = str.take_front(maximum);
str = strBuf2;
strBuf2.push_back('\0'); // null terminate
}
std::string_view value) {
wpi::SmallString<64> str{value.substr(0, maximum)};
struct v4l2_ext_control ctrl;
struct v4l2_ext_controls ctrls;
@@ -108,7 +101,7 @@ static int SetStringCtrlIoctl(int fd, int id, int maximum,
std::memset(&ctrls, 0, sizeof(ctrls));
ctrl.id = id;
ctrl.size = str.size();
ctrl.string = const_cast<char*>(str.data());
ctrl.string = const_cast<char*>(str.c_str());
ctrls.ctrl_class = V4L2_CTRL_ID2CLASS(id);
ctrls.count = 1;
ctrls.controls = &ctrl;
@@ -117,8 +110,8 @@ static int SetStringCtrlIoctl(int fd, int id, int maximum,
// Removes non-alphanumeric characters and replaces spaces with underscores.
// e.g. "Zoom, Absolute" -> "zoom_absolute", "Pan (Absolute)" -> "pan_absolute"
static wpi::StringRef NormalizeName(wpi::StringRef name,
wpi::SmallVectorImpl<char>& buf) {
static std::string_view NormalizeName(std::string_view name,
wpi::SmallVectorImpl<char>& buf) {
bool newWord = false;
for (auto ch : name) {
if (std::isalnum(ch)) {
@@ -131,13 +124,12 @@ static wpi::StringRef NormalizeName(wpi::StringRef name,
newWord = true;
}
}
return wpi::StringRef(buf.data(), buf.size());
return {buf.data(), buf.size()};
}
#ifdef VIDIOC_QUERY_EXT_CTRL
UsbCameraProperty::UsbCameraProperty(const struct v4l2_query_ext_ctrl& ctrl)
: PropertyImpl(wpi::StringRef{}, CS_PROP_NONE, ctrl.step,
ctrl.default_value, 0),
: PropertyImpl({}, CS_PROP_NONE, ctrl.step, ctrl.default_value, 0),
id(ctrl.id & V4L2_CTRL_ID_MASK),
type(ctrl.type) {
hasMinimum = true;
@@ -174,13 +166,12 @@ UsbCameraProperty::UsbCameraProperty(const struct v4l2_query_ext_ctrl& ctrl)
++len;
}
wpi::SmallString<64> name_buf;
name = NormalizeName(wpi::StringRef(ctrl.name, len), name_buf);
name = NormalizeName({ctrl.name, len}, name_buf);
}
#endif
UsbCameraProperty::UsbCameraProperty(const struct v4l2_queryctrl& ctrl)
: PropertyImpl(wpi::StringRef{}, CS_PROP_NONE, ctrl.step,
ctrl.default_value, 0),
: PropertyImpl({}, CS_PROP_NONE, ctrl.step, ctrl.default_value, 0),
id(ctrl.id & V4L2_CTRL_ID_MASK),
type(ctrl.type) {
hasMinimum = true;
@@ -214,8 +205,8 @@ UsbCameraProperty::UsbCameraProperty(const struct v4l2_queryctrl& ctrl)
++len;
}
wpi::SmallString<64> name_buf;
name = NormalizeName(
wpi::StringRef(reinterpret_cast<const char*>(ctrl.name), len), name_buf);
name =
NormalizeName({reinterpret_cast<const char*>(ctrl.name), len}, name_buf);
}
std::unique_ptr<UsbCameraProperty> UsbCameraProperty::DeviceQuery(int fd,
@@ -261,8 +252,7 @@ std::unique_ptr<UsbCameraProperty> UsbCameraProperty::DeviceQuery(int fd,
continue;
}
if (prop->intMenu) {
wpi::raw_string_ostream os(prop->enumChoices[i]);
os << qmenu.value;
prop->enumChoices[i] = fmt::to_string(qmenu.value);
} else {
prop->enumChoices[i] = reinterpret_cast<const char*>(qmenu.name);
}
@@ -315,12 +305,12 @@ bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
int fd) const {
// Make a copy of the string as we're about to release the lock
wpi::SmallString<128> valueStrCopy{valueStr};
return DeviceSet(lock, fd, value, valueStrCopy);
return DeviceSet(lock, fd, value, valueStrCopy.str());
}
bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock, int fd,
int newValue,
const wpi::Twine& newValueStr) const {
std::string_view newValueStr) const {
if (!device || fd < 0) {
return true;
}

13
cscore/src/main/native/linux/UsbCameraProperty.h
View File

@@ -8,6 +8,7 @@
#include <linux/videodev2.h>
#include <memory>
#include <string_view>
#include <wpi/mutex.h>
@@ -19,19 +20,19 @@ namespace cs {
class UsbCameraProperty : public PropertyImpl {
public:
UsbCameraProperty() = default;
explicit UsbCameraProperty(const wpi::Twine& name_) : PropertyImpl{name_} {}
explicit UsbCameraProperty(std::string_view name_) : PropertyImpl{name_} {}
// Software property constructor
UsbCameraProperty(const wpi::Twine& name_, unsigned id_,
CS_PropertyKind kind_, int minimum_, int maximum_,
int step_, int defaultValue_, int value_)
UsbCameraProperty(std::string_view name_, unsigned id_, CS_PropertyKind kind_,
int minimum_, int maximum_, int step_, int defaultValue_,
int value_)
: PropertyImpl(name_, kind_, minimum_, maximum_, step_, defaultValue_,
value_),
device{false},
id{id_} {}
// Normalized property constructor
UsbCameraProperty(const wpi::Twine& name_, int rawIndex_,
UsbCameraProperty(std::string_view name_, int rawIndex_,
const UsbCameraProperty& rawProp, int defaultValue_,
int value_)
: PropertyImpl(name_, rawProp.propKind, 1, defaultValue_, value_),
@@ -55,7 +56,7 @@ class UsbCameraProperty : public PropertyImpl {
bool DeviceGet(std::unique_lock<wpi::mutex>& lock, int fd);
bool DeviceSet(std::unique_lock<wpi::mutex>& lock, int fd) const;
bool DeviceSet(std::unique_lock<wpi::mutex>& lock, int fd, int newValue,
const wpi::Twine& newValueStr) const;
std::string_view newValueStr) const;
// If this is a device (rather than software) property
bool device{true};

91
cscore/src/main/native/linux/UsbUtil.cpp
View File

@@ -8,8 +8,10 @@
#include <libgen.h>
#include <sys/ioctl.h>
#include <wpi/Format.h>
#include <fmt/format.h>
#include <wpi/SmallString.h>
#include <wpi/StringExtras.h>
#include <wpi/fs.h>
#include <wpi/raw_istream.h>
#include <wpi/raw_ostream.h>
@@ -18,21 +20,18 @@
namespace cs {
static wpi::StringRef GetUsbNameFromFile(int vendor, int product,
wpi::SmallVectorImpl<char>& buf) {
static std::string GetUsbNameFromFile(int vendor, int product) {
int fd = open("/var/lib/usbutils/usb.ids", O_RDONLY);
if (fd < 0) {
return {};
}
wpi::raw_svector_ostream os{buf};
wpi::SmallString<128> buf;
wpi::raw_fd_istream is{fd, true};
// build vendor and product 4-char hex strings
wpi::SmallString<16> vendorStr, productStr;
wpi::raw_svector_ostream vendorOs{vendorStr}, productOs{productStr};
vendorOs << wpi::format_hex_no_prefix(vendor, 4);
productOs << wpi::format_hex_no_prefix(product, 4);
auto vendorStr = fmt::format("{:04x}", vendor);
auto productStr = fmt::format("{:04x}", product);
// scan file
wpi::SmallString<128> lineBuf;
@@ -48,23 +47,24 @@ static wpi::StringRef GetUsbNameFromFile(int vendor, int product,
}
// look for vendor at start of line
if (line.startswith(vendorStr)) {
if (wpi::starts_with(line, vendorStr)) {
foundVendor = true;
os << line.substr(5).trim() << ' ';
buf += wpi::trim(line.substr(5));
buf += ' ';
continue;
}
if (foundVendor) {
// next vendor, but didn't match product?
if (line[0] != '\t') {
os << "Unknown";
return os.str();
buf += "Unknown";
return buf;
}
// look for product
if (line.substr(1).startswith(productStr)) {
os << line.substr(6).trim();
return os.str();
if (wpi::starts_with(line.substr(1), productStr)) {
buf += wpi::trim(line.substr(6));
return buf;
}
}
}
@@ -72,93 +72,90 @@ static wpi::StringRef GetUsbNameFromFile(int vendor, int product,
return {};
}
wpi::StringRef GetUsbNameFromId(int vendor, int product,
wpi::SmallVectorImpl<char>& buf) {
std::string GetUsbNameFromId(int vendor, int product) {
// try reading usb.ids
wpi::StringRef rv = GetUsbNameFromFile(vendor, product, buf);
std::string rv = GetUsbNameFromFile(vendor, product);
if (!rv.empty()) {
return rv;
}
// Fall back to internal database
wpi::raw_svector_ostream os{buf};
switch (vendor) {
case 0x046d:
os << "Logitech, Inc. ";
case 0x046d: {
std::string_view productStr;
switch (product) {
case 0x0802:
os << "Webcam C200";
productStr = "Webcam C200";
break;
case 0x0804:
os << "Webcam C250";
productStr = "Webcam C250";
break;
case 0x0805:
os << "Webcam C300";
productStr = "Webcam C300";
break;
case 0x0807:
os << "Webcam B500";
productStr = "Webcam B500";
break;
case 0x0808:
os << "Webcam C600";
productStr = "Webcam C600";
break;
case 0x0809:
os << "Webcam Pro 9000";
productStr = "Webcam Pro 9000";
break;
case 0x080a:
os << "Portable Webcam C905";
productStr = "Portable Webcam C905";
break;
case 0x080f:
os << "Webcam C120";
productStr = "Webcam C120";
break;
case 0x0819:
os << "Webcam C210";
productStr = "Webcam C210";
break;
case 0x081b:
os << "Webcam C310";
productStr = "Webcam C310";
break;
case 0x081d:
os << "HD Webcam C510";
productStr = "HD Webcam C510";
break;
case 0x0821:
os << "HD Webcam C910";
productStr = "HD Webcam C910";
break;
case 0x0825:
os << "Webcam C270";
productStr = "Webcam C270";
break;
case 0x0826:
os << "HD Webcam C525";
productStr = "HD Webcam C525";
break;
case 0x0828:
os << "HD Webcam B990";
productStr = "HD Webcam B990";
break;
case 0x082b:
os << "Webcam C170";
productStr = "Webcam C170";
break;
case 0x082d:
os << "HD Pro Webcam C920";
productStr = "HD Pro Webcam C920";
break;
case 0x0836:
os << "B525 HD Webcam";
productStr = "B525 HD Webcam";
break;
case 0x0843:
os << "Webcam C930e";
productStr = "Webcam C930e";
break;
}
break;
return fmt::format("Logitech, Inc. {}", productStr);
}
}
return os.str();
return {};
}
int CheckedIoctl(int fd, unsigned long req, void* data, // NOLINT(runtime/int)
const char* name, const char* file, int line, bool quiet) {
int retval = ioctl(fd, req, data);
if (!quiet && retval < 0) {
wpi::SmallString<64> localfile{file};
localfile.push_back('\0');
WPI_ERROR(Instance::GetInstance().logger,
"ioctl " << name << " failed at " << basename(localfile.data())
<< ":" << line << ": " << std::strerror(errno));
WPI_ERROR(Instance::GetInstance().logger, "ioctl {} failed at {}:{}: {}",
name, fs::path{file}.filename().string(), line,
std::strerror(errno));
}
return retval;
}

8
cscore/src/main/native/linux/UsbUtil.h
View File

@@ -5,15 +5,11 @@
#ifndef CSCORE_USBUTIL_H_
#define CSCORE_USBUTIL_H_
#include <stdint.h>
#include <wpi/SmallVector.h>
#include <wpi/StringRef.h>
#include <string>
namespace cs {
wpi::StringRef GetUsbNameFromId(int vendor, int product,
wpi::SmallVectorImpl<char>& buf);
std::string GetUsbNameFromId(int vendor, int product);
int CheckedIoctl(int fd, unsigned long req, void* data, // NOLINT(runtime/int)
const char* name, const char* file, int line, bool quiet);

6
cscore/src/main/native/osx/UsbCameraImpl.cpp
View File

@@ -6,19 +6,19 @@
namespace cs {
CS_Source CreateUsbCameraDev(const wpi::Twine& name, int dev,
CS_Source CreateUsbCameraDev(std::string_view name, int dev,
CS_Status* status) {
*status = CS_INVALID_HANDLE;
return 0;
}
CS_Source CreateUsbCameraPath(const wpi::Twine& name, const wpi::Twine& path,
CS_Source CreateUsbCameraPath(std::string_view name, std::string_view path,
CS_Status* status) {
*status = CS_INVALID_HANDLE;
return 0;
}
void SetUsbCameraPath(CS_Source source, const wpi::Twine& path,
void SetUsbCameraPath(CS_Source source, std::string_view path,
CS_Status* status) {
*status = CS_INVALID_HANDLE;
}

80
cscore/src/main/native/windows/UsbCameraImpl.cpp
View File

@@ -26,8 +26,7 @@
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <wpi/MemAlloc.h>
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h>
#include <wpi/StringExtras.h>
#include <wpi/timestamp.h>
#include "COMCreators.h"
@@ -69,17 +68,17 @@ using namespace cs;
namespace cs {
UsbCameraImpl::UsbCameraImpl(const wpi::Twine& name, wpi::Logger& logger,
UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
const wpi::Twine& path)
: SourceImpl{name, logger, notifier, telemetry}, m_path{path.str()} {
std::string_view path)
: SourceImpl{name, logger, notifier, telemetry}, m_path{path} {
std::wstring_convert<std::codecvt_utf8<wchar_t>> utf8_conv;
m_widePath = utf8_conv.from_bytes(m_path.c_str());
m_deviceId = -1;
StartMessagePump();
}
UsbCameraImpl::UsbCameraImpl(const wpi::Twine& name, wpi::Logger& logger,
UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
int deviceId)
: SourceImpl{name, logger, notifier, telemetry}, m_deviceId(deviceId) {
@@ -99,11 +98,11 @@ void UsbCameraImpl::SetProperty(int property, int value, CS_Status* status) {
SetCameraMessage, msg.kind, &msg);
*status = result;
}
void UsbCameraImpl::SetStringProperty(int property, const wpi::Twine& value,
void UsbCameraImpl::SetStringProperty(int property, std::string_view value,
CS_Status* status) {
Message msg{Message::kCmdSetPropertyStr};
msg.data[0] = property;
msg.dataStr = value.str();
msg.dataStr = value;
auto result =
m_messagePump->SendWindowMessage<CS_Status, Message::Kind, Message*>(
SetCameraMessage, msg.kind, &msg);
@@ -197,9 +196,9 @@ void UsbCameraImpl::NumSinksEnabledChanged() {
SetCameraMessage, Message::kNumSinksEnabledChanged, nullptr);
}
void UsbCameraImpl::SetPath(const wpi::Twine& path, CS_Status* status) {
void UsbCameraImpl::SetPath(std::string_view path, CS_Status* status) {
Message msg{Message::kCmdSetPath};
msg.dataStr = path.str();
msg.dataStr = path;
auto result =
m_messagePump->SendWindowMessage<CS_Status, Message::Kind, Message*>(
SetCameraMessage, msg.kind, &msg);
@@ -257,7 +256,7 @@ bool UsbCameraImpl::CheckDeviceChange(WPARAM wParam, DEV_BROADCAST_HDR* pHdr,
void UsbCameraImpl::DeviceDisconnect() {
if (m_connectVerbose)
SINFO("Disconnected from " << m_path);
SINFO("Disconnected from {}", m_path);
m_sourceReader.Reset();
m_mediaSource.Reset();
if (m_imageCallback) {
@@ -268,8 +267,8 @@ void UsbCameraImpl::DeviceDisconnect() {
SetConnected(false);
}
static bool IsPercentageProperty(wpi::StringRef name) {
if (name.startswith("raw_"))
static bool IsPercentageProperty(std::string_view name) {
if (wpi::starts_with(name, "raw_"))
name = name.substr(4);
return name == "Brightness" || name == "Contrast" || name == "Saturation" ||
name == "Hue" || name == "Sharpness" || name == "Gain" ||
@@ -341,8 +340,7 @@ void UsbCameraImpl::ProcessFrame(IMFSample* videoSample,
case cs::VideoMode::PixelFormat::kMJPEG: {
// Special case
PutFrame(VideoMode::kMJPEG, mode.width, mode.height,
wpi::StringRef(reinterpret_cast<char*>(ptr), length),
wpi::Now());
{reinterpret_cast<char*>(ptr), length}, wpi::Now());
doFinalSet = false;
break;
}
@@ -477,9 +475,9 @@ bool UsbCameraImpl::DeviceConnect() {
return true;
if (m_connectVerbose)
SINFO("Connecting to USB camera on " << m_path);
SINFO("Connecting to USB camera on {}", m_path);
SDEBUG3("opening device");
SDEBUG3("{}", "opening device");
const wchar_t* path = m_widePath.c_str();
m_mediaSource = CreateVideoCaptureDevice(path);
@@ -506,13 +504,13 @@ bool UsbCameraImpl::DeviceConnect() {
}
if (!m_properties_cached) {
SDEBUG3("caching properties");
SDEBUG3("{}", "caching properties");
DeviceCacheProperties();
DeviceCacheVideoModes();
DeviceCacheMode();
m_properties_cached = true;
} else {
SDEBUG3("restoring video mode");
SDEBUG3("{}", "restoring video mode");
DeviceSetMode();
}
@@ -526,7 +524,7 @@ bool UsbCameraImpl::DeviceConnect() {
}
std::unique_ptr<PropertyImpl> UsbCameraImpl::CreateEmptyProperty(
const wpi::Twine& name) const {
std::string_view name) const {
return nullptr;
}
@@ -545,7 +543,7 @@ bool UsbCameraImpl::CacheProperties(CS_Status* status) const {
}
template <typename TagProperty, typename IAM>
void UsbCameraImpl::DeviceAddProperty(const wpi::Twine& name_, TagProperty tag,
void UsbCameraImpl::DeviceAddProperty(std::string_view name_, TagProperty tag,
IAM* pProcAmp) {
// First see if properties exist
bool isValid = false;
@@ -556,11 +554,11 @@ void UsbCameraImpl::DeviceAddProperty(const wpi::Twine& name_, TagProperty tag,
}
}
template void UsbCameraImpl::DeviceAddProperty(const wpi::Twine& name_,
template void UsbCameraImpl::DeviceAddProperty(std::string_view name_,
tagVideoProcAmpProperty tag,
IAMVideoProcAmp* pProcAmp);
template void UsbCameraImpl::DeviceAddProperty(const wpi::Twine& name_,
template void UsbCameraImpl::DeviceAddProperty(std::string_view name_,
tagCameraControlProperty tag,
IAMCameraControl* pProcAmp);
@@ -669,7 +667,7 @@ void UsbCameraImpl::DeviceCacheProperty(
} else {
// Read current raw value and set percentage from it
if (!rawProp->DeviceGet(lock, pProcAmp))
SWARNING("failed to get property " << rawProp->name);
SWARNING("failed to get property {}", rawProp->name);
if (perProp) {
perProp->SetValue(RawToPercentage(*rawProp, rawProp->value));
@@ -680,7 +678,7 @@ void UsbCameraImpl::DeviceCacheProperty(
// Set value on device if user-configured
if (rawProp->valueSet) {
if (!rawProp->DeviceSet(lock, pProcAmp))
SWARNING("failed to set property " << rawProp->name);
SWARNING("failed to set property {}", rawProp->name);
}
// Update pointers since we released the lock
@@ -764,7 +762,7 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetProperty(
bool setString = (msg.kind == Message::kCmdSetPropertyStr);
int property = msg.data[0];
int value = msg.data[1];
wpi::StringRef valueStr = msg.dataStr;
std::string_view valueStr = msg.dataStr;
// Look up
auto prop = static_cast<UsbCameraProperty*>(GetProperty(property));
@@ -1022,23 +1020,21 @@ void UsbCameraImpl::DeviceCacheVideoModes() {
m_notifier.NotifySource(*this, CS_SOURCE_VIDEOMODES_UPDATED);
}
static void ParseVidAndPid(wpi::StringRef path, int* pid, int* vid) {
auto vidIndex = path.find_lower("vid_");
auto pidIndex = path.find_lower("pid_");
static void ParseVidAndPid(std::string_view path, int* pid, int* vid) {
auto vidIndex = wpi::find_lower(path, "vid_");
auto pidIndex = wpi::find_lower(path, "pid_");
if (vidIndex != wpi::StringRef::npos) {
auto vidSlice = path.slice(vidIndex + 4, vidIndex + 8);
uint16_t val = 0;
if (!vidSlice.getAsInteger(16, val)) {
*vid = val;
if (vidIndex != std::string_view::npos) {
auto vidSlice = wpi::slice(path, vidIndex + 4, vidIndex + 8);
if (auto v = wpi::parse_integer<uint16_t>(vidSlice, 16)) {
*vid = v.value();
}
}
if (pidIndex != wpi::StringRef::npos) {
auto pidSlice = path.slice(pidIndex + 4, pidIndex + 8);
uint16_t val = 0;
if (!pidSlice.getAsInteger(16, val)) {
*pid = val;
if (pidIndex != std::string_view::npos) {
auto pidSlice = wpi::slice(path, pidIndex + 4, pidIndex + 8);
if (auto v = wpi::parse_integer<uint16_t>(pidSlice, 16)) {
*pid = v.value();
}
}
}
@@ -1112,7 +1108,7 @@ done:
return retval;
}
CS_Source CreateUsbCameraDev(const wpi::Twine& name, int dev,
CS_Source CreateUsbCameraDev(std::string_view name, int dev,
CS_Status* status) {
// First check if device exists
auto devices = cs::EnumerateUsbCameras(status);
@@ -1125,7 +1121,7 @@ CS_Source CreateUsbCameraDev(const wpi::Twine& name, int dev,
return inst.CreateSource(CS_SOURCE_USB, source);
}
CS_Source CreateUsbCameraPath(const wpi::Twine& name, const wpi::Twine& path,
CS_Source CreateUsbCameraPath(std::string_view name, std::string_view path,
CS_Status* status) {
auto& inst = Instance::GetInstance();
auto source = std::make_shared<UsbCameraImpl>(
@@ -1133,7 +1129,7 @@ CS_Source CreateUsbCameraPath(const wpi::Twine& name, const wpi::Twine& path,
return inst.CreateSource(CS_SOURCE_USB, source);
}
void SetUsbCameraPath(CS_Source source, const wpi::Twine& path,
void SetUsbCameraPath(CS_Source source, std::string_view path,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data || data->kind != CS_SOURCE_USB) {

16
cscore/src/main/native/windows/UsbCameraImpl.h
View File

@@ -16,6 +16,7 @@
#include <atomic>
#include <memory>
#include <string>
#include <string_view>
#include <thread>
#include <utility>
#include <vector>
@@ -23,7 +24,6 @@
#include <Dbt.h>
#include <wpi/STLExtras.h>
#include <wpi/SmallVector.h>
#include <wpi/Twine.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
#include <wpi/raw_istream.h>
@@ -40,9 +40,9 @@ namespace cs {
class UsbCameraImpl : public SourceImpl,
public std::enable_shared_from_this<UsbCameraImpl> {
public:
UsbCameraImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry, const wpi::Twine& path);
UsbCameraImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
UsbCameraImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry, std::string_view path);
UsbCameraImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry, int deviceId);
~UsbCameraImpl() override;
@@ -50,7 +50,7 @@ class UsbCameraImpl : public SourceImpl,
// Property functions
void SetProperty(int property, int value, CS_Status* status) override;
void SetStringProperty(int property, const wpi::Twine& value,
void SetStringProperty(int property, std::string_view value,
CS_Status* status) override;
// Standard common camera properties
@@ -75,7 +75,7 @@ class UsbCameraImpl : public SourceImpl,
void ProcessFrame(IMFSample* sample, const VideoMode& mode);
void PostRequestNewFrame();
void SetPath(const wpi::Twine& path, CS_Status* status);
void SetPath(std::string_view path, CS_Status* status);
std::string GetPath() const;
// Messages passed to/from camera thread
@@ -107,7 +107,7 @@ class UsbCameraImpl : public SourceImpl,
protected:
std::unique_ptr<PropertyImpl> CreateEmptyProperty(
const wpi::Twine& name) const override;
std::string_view name) const override;
// Cache properties. Immediately successful if properties are already cached.
// If they are not, tries to connect to the camera to do so; returns false and
@@ -132,7 +132,7 @@ class UsbCameraImpl : public SourceImpl,
void DeviceCacheProperties();
void DeviceCacheVideoModes();
template <typename TagProperty, typename IAM>
void DeviceAddProperty(const wpi::Twine& name_, TagProperty tag,
void DeviceAddProperty(std::string_view name_, TagProperty tag,
IAM* pProcAmp);
ComPtr<IMFMediaType> DeviceCheckModeValid(const VideoMode& toCheck);

10
cscore/src/main/native/windows/UsbCameraProperty.cpp
View File

@@ -4,14 +4,16 @@
#include "UsbCameraProperty.h"
#include <fmt/format.h>
#include "ComPtr.h"
using namespace cs;
UsbCameraProperty::UsbCameraProperty(const wpi::Twine& name_,
UsbCameraProperty::UsbCameraProperty(std::string_view name_,
tagVideoProcAmpProperty tag, bool autoProp,
IAMVideoProcAmp* pProcAmp, bool* isValid)
: PropertyImpl{autoProp ? name_ + "_auto" : name_} {
: PropertyImpl{autoProp ? fmt::format("{}_auto", name_) : name_} {
this->tagVideoProc = tag;
this->isControlProperty = false;
this->isAutoProp = autoProp;
@@ -71,11 +73,11 @@ bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
return false;
}
UsbCameraProperty::UsbCameraProperty(const wpi::Twine& name_,
UsbCameraProperty::UsbCameraProperty(std::string_view name_,
tagCameraControlProperty tag,
bool autoProp, IAMCameraControl* pProcAmp,
bool* isValid)
: PropertyImpl{autoProp ? name_ + "_auto" : name_} {
: PropertyImpl{autoProp ? fmt::format("{}_auto", name_) : name_} {
this->tagCameraControl = tag;
this->isControlProperty = true;
this->isAutoProp = autoProp;

15
cscore/src/main/native/windows/UsbCameraProperty.h
View File

@@ -9,6 +9,7 @@
#include <mfreadwrite.h>
#include <memory>
#include <string_view>
#include <Dshow.h>
#include <wpi/mutex.h>
@@ -21,19 +22,19 @@ namespace cs {
class UsbCameraProperty : public PropertyImpl {
public:
UsbCameraProperty() = default;
explicit UsbCameraProperty(const wpi::Twine& name_) : PropertyImpl{name_} {}
explicit UsbCameraProperty(std::string_view name_) : PropertyImpl{name_} {}
// Software property constructor
UsbCameraProperty(const wpi::Twine& name_, unsigned id_,
CS_PropertyKind kind_, int minimum_, int maximum_,
int step_, int defaultValue_, int value_)
UsbCameraProperty(std::string_view name_, unsigned id_, CS_PropertyKind kind_,
int minimum_, int maximum_, int step_, int defaultValue_,
int value_)
: PropertyImpl(name_, kind_, minimum_, maximum_, step_, defaultValue_,
value_),
device{false},
id{id_} {}
// Normalized property constructor
UsbCameraProperty(const wpi::Twine& name_, int rawIndex_,
UsbCameraProperty(std::string_view name_, int rawIndex_,
const UsbCameraProperty& rawProp, int defaultValue_,
int value_)
: PropertyImpl(name_, rawProp.propKind, 1, defaultValue_, value_),
@@ -47,10 +48,10 @@ class UsbCameraProperty : public PropertyImpl {
maximum = 100;
}
UsbCameraProperty(const wpi::Twine& name_, tagVideoProcAmpProperty tag,
UsbCameraProperty(std::string_view name_, tagVideoProcAmpProperty tag,
bool autoProp, IAMVideoProcAmp* pProcAmp, bool* isValid);
UsbCameraProperty(const wpi::Twine& name_, tagCameraControlProperty tag,
UsbCameraProperty(std::string_view name_, tagCameraControlProperty tag,
bool autoProp, IAMCameraControl* pProcAmp, bool* isValid);
bool DeviceGet(std::unique_lock<wpi::mutex>& lock,