HAND FIXES: Fixup remaining rename issues

cameraserver/multiCameraServer/src/main/java/org/wpilib/Main.java

@@ -0,0 +1,196 @@
+// 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.
+
+package org.wpilib;
+
+import com.google.gson.Gson;
+import com.google.gson.GsonBuilder;
+import com.google.gson.JsonArray;
+import com.google.gson.JsonElement;
+import com.google.gson.JsonObject;
+import com.google.gson.JsonParser;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Paths;
+import java.util.ArrayList;
+import java.util.List;
+import org.wpilib.networktables.NetworkTableInstance;
+import org.wpilib.vision.camera.VideoSource;
+import org.wpilib.vision.stream.CameraServer;
+
+/*
+  JSON format:
+  {
+      "team": <team number>,
+      "ntmode": <"client" or "server", "client" if unspecified>
+      "cameras": [
+          {
+              "name": <camera name>
+              "path": <path, e.g. "/dev/video0">
+              "pixel format": <"MJPEG", "YUYV", etc>   // optional
+              "width": <video mode width>              // optional
+              "height": <video mode height>            // optional
+              "fps": <video mode fps>                  // optional
+              "brightness": <percentage brightness>    // optional
+              "white balance": <"auto", "hold", value> // optional
+              "exposure": <"auto", "hold", value>      // optional
+              "properties": [                          // optional
+                  {
+                      "name": <property name>
+                      "value": <property value>
+                  }
+              ]
+          }
+      ]
+  }
+*/
+
+public final class Main {
+  private static String configFile = "/boot/frc.json";
+
+  @SuppressWarnings("MemberName")
+  public static class CameraConfig {
+    public String name;
+    public String path;
+    public JsonObject config;
+  }
+
+  private static int team;
+  private static boolean server;
+  private static List<CameraConfig> cameras = new ArrayList<>();
+
+  private Main() {}
+
+  /** Report parse error. */
+  public static void parseError(String str) {
+    System.err.println("config error in '" + configFile + "': " + str);
+  }
+
+  /** Read single camera configuration. */
+  public static boolean readCameraConfig(JsonObject config) {
+    CameraConfig cam = new CameraConfig();
+
+    // name
+    JsonElement nameElement = config.get("name");
+    if (nameElement == null) {
+      parseError("could not read camera name");
+      return false;
+    }
+    cam.name = nameElement.getAsString();
+
+    // path
+    JsonElement pathElement = config.get("path");
+    if (pathElement == null) {
+      parseError("camera '" + cam.name + "': could not read path");
+      return false;
+    }
+    cam.path = pathElement.getAsString();
+
+    cam.config = config;
+
+    cameras.add(cam);
+    return true;
+  }
+
+  /** Read configuration file. */
+  public static boolean readConfig() {
+    // parse file
+    JsonElement top;
+    try {
+      top = JsonParser.parseReader(Files.newBufferedReader(Paths.get(configFile)));
+    } catch (IOException ex) {
+      System.err.println("could not open '" + configFile + "': " + ex);
+      return false;
+    }
+
+    // top level must be an object
+    if (!top.isJsonObject()) {
+      parseError("must be JSON object");
+      return false;
+    }
+    JsonObject obj = top.getAsJsonObject();
+
+    // team number
+    JsonElement teamElement = obj.get("team");
+    if (teamElement == null) {
+      parseError("could not read team number");
+      return false;
+    }
+    team = teamElement.getAsInt();
+
+    // ntmode (optional)
+    if (obj.has("ntmode")) {
+      String str = obj.get("ntmode").getAsString();
+      if ("client".equalsIgnoreCase(str)) {
+        server = false;
+      } else if ("server".equalsIgnoreCase(str)) {
+        server = true;
+      } else {
+        parseError("could not understand ntmode value '" + str + "'");
+      }
+    }
+
+    // cameras
+    JsonElement camerasElement = obj.get("cameras");
+    if (camerasElement == null) {
+      parseError("could not read cameras");
+      return false;
+    }
+    JsonArray cameras = camerasElement.getAsJsonArray();
+    for (JsonElement camera : cameras) {
+      if (!readCameraConfig(camera.getAsJsonObject())) {
+        return false;
+      }
+    }
+
+    return true;
+  }
+
+  /** Start running the camera. */
+  public static void startCamera(CameraConfig config) {
+    System.out.println("Starting camera '" + config.name + "' on " + config.path);
+    VideoSource camera = CameraServer.startAutomaticCapture(config.name, config.path);
+
+    Gson gson = new GsonBuilder().create();
+
+    camera.setConfigJson(gson.toJson(config.config));
+  }
+
+  /** Main. */
+  public static void main(String... args) {
+    if (args.length > 0) {
+      configFile = args[0];
+    }
+
+    // read configuration
+    if (!readConfig()) {
+      return;
+    }
+
+    // start NetworkTables
+    NetworkTableInstance ntinst = NetworkTableInstance.getDefault();
+    if (server) {
+      System.out.println("Setting up NetworkTables server");
+      ntinst.startServer();
+    } else {
+      System.out.println("Setting up NetworkTables client for team " + team);
+      ntinst.setServerTeam(team);
+      ntinst.startClient("multicameraserver");
+    }
+
+    // start cameras
+    for (CameraConfig camera : cameras) {
+      startCamera(camera);
+    }
+
+    // loop forever
+    for (; ; ) {
+      try {
+        Thread.sleep(10000);
+      } catch (InterruptedException ex) {
+        return;
+      }
+    }
+  }
+}