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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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13
cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
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@@ -37,6 +37,7 @@ struct CameraServer::Impl {
std::string m_primarySourceName;
wpi::StringMap<cs::VideoSource> m_sources;
wpi::StringMap<cs::VideoSink> m_sinks;
wpi::DenseMap<CS_Sink, CS_Source> m_fixedSources;
wpi::DenseMap<CS_Source, std::shared_ptr<nt::NetworkTable>> m_tables;
std::shared_ptr<nt::NetworkTable> m_publishTable;
cs::VideoListener m_videoListener;
@@ -156,7 +157,8 @@ void CameraServer::Impl::UpdateStreamValues() {
CS_Sink sink = i.second.GetHandle();
// Get the source's subtable (if none exists, we're done)
CS_Source source = cs::GetSinkSource(sink, &status);
CS_Source source = m_fixedSources.lookup(sink);
if (source == 0) source = cs::GetSinkSource(sink, &status);
if (source == 0) continue;
auto table = m_tables.lookup(source);
if (table) {
@@ -538,6 +540,15 @@ cs::AxisCamera CameraServer::AddAxisCamera(const wpi::Twine& name,
return camera;
}
cs::MjpegServer CameraServer::AddSwitchedCamera(const wpi::Twine& name) {
// create a dummy CvSource
cs::CvSource source{name, cs::VideoMode::PixelFormat::kMJPEG, 160, 120, 30};
cs::MjpegServer server = StartAutomaticCapture(source);
m_impl->m_fixedSources[server.GetHandle()] = source.GetHandle();
return server;
}
cs::MjpegServer CameraServer::StartAutomaticCapture(
const cs::VideoSource& camera) {
AddCamera(camera);