mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
Use Java 17 features (#6691)
Uses enhanced instanceof (and simplify equals methods) Uses switch expressions and arrow labels Seal and finalize some Shuffleboard classes Co-authored-by: Sam Carlberg <sam@slfc.dev>
This commit is contained in:
Gold856
@@ -94,24 +94,24 @@ public final class CameraServer {
|
||||
|
||||
void update(VideoEvent event) {
|
||||
switch (event.propertyKind) {
|
||||
case kBoolean:
|
||||
case kBoolean -> {
|
||||
if (m_booleanValueEntry != null) {
|
||||
m_booleanValueEntry.set(event.value != 0);
|
||||
}
|
||||
break;
|
||||
case kInteger:
|
||||
case kEnum:
|
||||
}
|
||||
case kInteger, kEnum -> {
|
||||
if (m_integerValueEntry != null) {
|
||||
m_integerValueEntry.set(event.value);
|
||||
}
|
||||
break;
|
||||
case kString:
|
||||
}
|
||||
case kString -> {
|
||||
if (m_stringValueEntry != null) {
|
||||
m_stringValueEntry.set(event.valueStr);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
default -> {
|
||||
// NOP
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -231,112 +231,93 @@ public final class CameraServer {
|
||||
event -> {
|
||||
synchronized (CameraServer.class) {
|
||||
switch (event.kind) {
|
||||
case kSourceCreated:
|
||||
{
|
||||
// Create subtable for the camera
|
||||
NetworkTable table = m_publishTable.getSubTable(event.name);
|
||||
m_publishers.put(
|
||||
event.sourceHandle, new SourcePublisher(table, event.sourceHandle));
|
||||
break;
|
||||
case kSourceCreated -> {
|
||||
// Create subtable for the camera
|
||||
NetworkTable table = m_publishTable.getSubTable(event.name);
|
||||
m_publishers.put(
|
||||
event.sourceHandle, new SourcePublisher(table, event.sourceHandle));
|
||||
}
|
||||
case kSourceDestroyed -> {
|
||||
SourcePublisher publisher = m_publishers.remove(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
try {
|
||||
publisher.close();
|
||||
} catch (Exception e) {
|
||||
// ignore (nothing we can do about it)
|
||||
}
|
||||
}
|
||||
case kSourceDestroyed:
|
||||
{
|
||||
SourcePublisher publisher = m_publishers.remove(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
}
|
||||
case kSourceConnected -> {
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
// update the description too (as it may have changed)
|
||||
publisher.m_descriptionPublisher.set(
|
||||
CameraServerJNI.getSourceDescription(event.sourceHandle));
|
||||
publisher.m_connectedPublisher.set(true);
|
||||
}
|
||||
}
|
||||
case kSourceDisconnected -> {
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
publisher.m_connectedPublisher.set(false);
|
||||
}
|
||||
}
|
||||
case kSourceVideoModesUpdated -> {
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
publisher.m_modesPublisher.set(getSourceModeValues(event.sourceHandle));
|
||||
}
|
||||
}
|
||||
case kSourceVideoModeChanged -> {
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
publisher.m_modeEntry.set(videoModeToString(event.mode));
|
||||
}
|
||||
}
|
||||
case kSourcePropertyCreated -> {
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
publisher.m_properties.put(
|
||||
event.propertyHandle, new PropertyPublisher(publisher.m_table, event));
|
||||
}
|
||||
}
|
||||
case kSourcePropertyValueUpdated -> {
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
|
||||
if (pp != null) {
|
||||
pp.update(event);
|
||||
}
|
||||
}
|
||||
}
|
||||
case kSourcePropertyChoicesUpdated -> {
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
|
||||
if (pp != null && pp.m_choicesTopic != null) {
|
||||
try {
|
||||
publisher.close();
|
||||
} catch (Exception e) {
|
||||
// ignore (nothing we can do about it)
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
case kSourceConnected:
|
||||
{
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
// update the description too (as it may have changed)
|
||||
publisher.m_descriptionPublisher.set(
|
||||
CameraServerJNI.getSourceDescription(event.sourceHandle));
|
||||
publisher.m_connectedPublisher.set(true);
|
||||
}
|
||||
break;
|
||||
}
|
||||
case kSourceDisconnected:
|
||||
{
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
publisher.m_connectedPublisher.set(false);
|
||||
}
|
||||
break;
|
||||
}
|
||||
case kSourceVideoModesUpdated:
|
||||
{
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
publisher.m_modesPublisher.set(getSourceModeValues(event.sourceHandle));
|
||||
}
|
||||
break;
|
||||
}
|
||||
case kSourceVideoModeChanged:
|
||||
{
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
publisher.m_modeEntry.set(videoModeToString(event.mode));
|
||||
}
|
||||
break;
|
||||
}
|
||||
case kSourcePropertyCreated:
|
||||
{
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
publisher.m_properties.put(
|
||||
event.propertyHandle, new PropertyPublisher(publisher.m_table, event));
|
||||
}
|
||||
break;
|
||||
}
|
||||
case kSourcePropertyValueUpdated:
|
||||
{
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
|
||||
if (pp != null) {
|
||||
pp.update(event);
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
case kSourcePropertyChoicesUpdated:
|
||||
{
|
||||
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
|
||||
if (publisher != null) {
|
||||
PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
|
||||
if (pp != null && pp.m_choicesTopic != null) {
|
||||
try {
|
||||
String[] choices =
|
||||
CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
|
||||
if (pp.m_choicesPublisher == null) {
|
||||
pp.m_choicesPublisher = pp.m_choicesTopic.publish();
|
||||
}
|
||||
pp.m_choicesPublisher.set(choices);
|
||||
} catch (VideoException ignored) {
|
||||
// ignore (just don't publish choices if we can't get them)
|
||||
String[] choices =
|
||||
CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
|
||||
if (pp.m_choicesPublisher == null) {
|
||||
pp.m_choicesPublisher = pp.m_choicesTopic.publish();
|
||||
}
|
||||
pp.m_choicesPublisher.set(choices);
|
||||
} catch (VideoException ignored) {
|
||||
// ignore (just don't publish choices if we can't get them)
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
case kSinkSourceChanged:
|
||||
case kSinkCreated:
|
||||
case kSinkDestroyed:
|
||||
case kNetworkInterfacesChanged:
|
||||
{
|
||||
m_addresses = CameraServerJNI.getNetworkInterfaces();
|
||||
updateStreamValues();
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
case kSinkSourceChanged,
|
||||
kSinkCreated,
|
||||
kSinkDestroyed,
|
||||
kNetworkInterfacesChanged -> {
|
||||
m_addresses = CameraServerJNI.getNetworkInterfaces();
|
||||
updateStreamValues();
|
||||
}
|
||||
default -> {
|
||||
// NOP
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
@@ -352,25 +333,20 @@ public final class CameraServer {
|
||||
* @param source Source index.
|
||||
*/
|
||||
private static String makeSourceValue(int source) {
|
||||
switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
|
||||
case kUsb:
|
||||
return "usb:" + CameraServerJNI.getUsbCameraPath(source);
|
||||
case kHttp:
|
||||
{
|
||||
String[] urls = CameraServerJNI.getHttpCameraUrls(source);
|
||||
if (urls.length > 0) {
|
||||
return "ip:" + urls[0];
|
||||
} else {
|
||||
return "ip:";
|
||||
}
|
||||
return switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
|
||||
case kUsb -> "usb:" + CameraServerJNI.getUsbCameraPath(source);
|
||||
case kHttp -> {
|
||||
String[] urls = CameraServerJNI.getHttpCameraUrls(source);
|
||||
if (urls.length > 0) {
|
||||
yield "ip:" + urls[0];
|
||||
} else {
|
||||
yield "ip:";
|
||||
}
|
||||
case kCv:
|
||||
return "cv:";
|
||||
case kRaw:
|
||||
return "raw:";
|
||||
default:
|
||||
return "unknown:";
|
||||
}
|
||||
}
|
||||
case kCv -> "cv:";
|
||||
case kRaw -> "raw:";
|
||||
case kUnknown -> "unknown:";
|
||||
};
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -504,20 +480,17 @@ public final class CameraServer {
|
||||
|
||||
/** Provide string description of pixel format. */
|
||||
private static String pixelFormatToString(PixelFormat pixelFormat) {
|
||||
switch (pixelFormat) {
|
||||
case kMJPEG:
|
||||
return "MJPEG";
|
||||
case kYUYV:
|
||||
return "YUYV";
|
||||
case kRGB565:
|
||||
return "RGB565";
|
||||
case kBGR:
|
||||
return "BGR";
|
||||
case kGray:
|
||||
return "Gray";
|
||||
default:
|
||||
return "Unknown";
|
||||
}
|
||||
return switch (pixelFormat) {
|
||||
case kMJPEG -> "MJPEG";
|
||||
case kYUYV -> "YUYV";
|
||||
case kRGB565 -> "RGB565";
|
||||
case kBGR -> "BGR";
|
||||
case kBGRA -> "BGRA";
|
||||
case kGray -> "Gray";
|
||||
case kY16 -> "Y16";
|
||||
case kUYVY -> "UYVY";
|
||||
case kUnknown -> "Unknown";
|
||||
};
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
Reference in New Issue
Block a user