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CameraServer: Add switched camera support (#1600)

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This adds a new function "addSwitchedCamera" that creates and publishes a
virtual camera where the published stream information is consistent even if
the mjpeg server source is switched to a different camera.

Previously, changing the source of the mjpeg server resulted in updating the
stream information published for that source.
This commit is contained in:
Peter Johnson
2019-02-14 22:05:40 -08:00
committed by GitHub
parent e8b24717c7
commit d55ca191b8
3 changed files with 46 additions and 3 deletions
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28
cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
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@@ -65,6 +65,8 @@ public final class CameraServer {
private final Map<String, VideoSource> m_sources;
private final Map<String, VideoSink> m_sinks;
private final Map<Integer, NetworkTable> m_tables; // indexed by source handle
// source handle indexed by sink handle
private final Map<Integer, Integer> m_fixedSources;
private final NetworkTable m_publishTable;
private final VideoListener m_videoListener; //NOPMD
private final int m_tableListener; //NOPMD
@@ -157,14 +159,20 @@ public final class CameraServer {
return values;
}
@SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP"})
@SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP", "PMD.CyclomaticComplexity"})
private synchronized void updateStreamValues() {
// Over all the sinks...
for (VideoSink i : m_sinks.values()) {
int sink = i.getHandle();
// Get the source's subtable (if none exists, we're done)
int source = CameraServerJNI.getSinkSource(sink);
int source;
Integer fixedSource = m_fixedSources.get(sink);
if (fixedSource != null) {
source = fixedSource;
} else {
source = CameraServerJNI.getSinkSource(sink);
}
if (source == 0) {
continue;
}
@@ -295,6 +303,7 @@ public final class CameraServer {
m_defaultUsbDevice = new AtomicInteger();
m_sources = new Hashtable<>();
m_sinks = new Hashtable<>();
m_fixedSources = new Hashtable<>();
m_tables = new Hashtable<>();
m_publishTable = NetworkTableInstance.getDefault().getTable(kPublishName);
m_nextPort = kBasePort;
@@ -596,6 +605,21 @@ public final class CameraServer {
return camera;
}
/**
* Adds a virtual camera for switching between two streams. Unlike the
* other addCamera methods, this returns a VideoSink rather than a
* VideoSource. Calling setSource() on the returned object can be used
* to switch the actual source of the stream.
*/
public MjpegServer addSwitchedCamera(String name) {
// create a dummy CvSource
CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, 160, 120, 30);
MjpegServer server = startAutomaticCapture(source);
m_fixedSources.put(server.getHandle(), source.getHandle());
return server;
}
/**
* Get OpenCV access to the primary camera feed. This allows you to
* get images from the camera for image processing on the roboRIO.