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[bazel] Clean up bazel scripts (#7984)

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This commit is contained in:
PJ Reiniger
2025-06-13 23:53:09 -04:00
committed by GitHub
parent 5dfc664b93
commit fbbc4bc53c
54 changed files with 1774 additions and 854 deletions
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34
cscore/BUILD.bazel
View File

@@ -1,7 +1,9 @@
load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test", "objc_library")
load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
load("@rules_java//java:defs.bzl", "java_binary")
load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
load("//shared/bazel/rules:objectivec_rules.bzl", "wpilib_objc_library")
WIN_SRCS = glob([
"src/main/native/windows/**/*.cpp",
@@ -24,7 +26,7 @@ filegroup(
}),
)
objc_library(
wpilib_objc_library(
name = "cscore-mac",
srcs = glob([
"src/main/native/objcpp/**/*.mm",
@@ -34,9 +36,7 @@ objc_library(
"src/main/native/include/**/*",
"src/main/native/objcpp/**/*.h",
]),
copts = [
"-std=c++20",
],
include_arc = False,
includes = [
"src/main/native/cpp",
"src/main/native/include",
@@ -50,7 +50,6 @@ objc_library(
"CoreVideo",
"IOKit",
],
tags = ["manual"],
deps = [
"//wpinet:wpinet.static",
"//wpiutil:wpiutil.static",
@@ -58,7 +57,7 @@ objc_library(
],
)
cc_library(
wpilib_cc_library(
name = "cscore.static",
srcs = [":native-srcs"] + glob(
["src/main/native/cpp/**"],
@@ -138,3 +137,24 @@ java_binary(
"//wpiutil:wpiutil-java",
],
)
[wpilib_cc_library(
name = example + "-examples",
srcs = glob([
"examples/" + example + "/*.cpp",
]),
tags = [
"wpi-example",
],
deps = [
"//cscore:cscore.static",
"//wpigui",
],
) for example in [
"enum_usb",
"httpcvstream",
"settings",
"usbcvstream",
"usbstream",
"usbviewer",
]]

85
cscore/java-examples/RawCVMatSink.java
View File

@@ -1,85 +0,0 @@
// 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 edu.wpi.cscore;
import edu.wpi.cscore.VideoMode.PixelFormat;
import edu.wpi.cscore.raw.RawFrame;
import java.nio.ByteBuffer;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
public class RawCVMatSink extends ImageSink {
RawFrame frame = new RawFrame();
Mat tmpMat;
ByteBuffer origByteBuffer;
int width;
int height;
int pixelFormat;
int bgrValue = PixelFormat.kBGR.getValue();
private int getCVFormat(PixelFormat pixelFormat) {
return switch (pixelFormat) {
case kYUYV, kRGB565, kY16, kUYVY -> CvType.CV_8UC2;
case kBGR -> CvType.CV_8UC3;
case kBGRA -> CvType.CV_8UC4;
case kGray, kMJPEG, kUnknown -> CvType.CV_8UC1;
};
}
/**
* Create a sink for accepting OpenCV images. WaitForFrame() must be called on the created sink to
* get each new image.
*
* @param name Source name (arbitrary unique identifier)
*/
public RawCVMatSink(String name) {
super(CameraServerJNI.createRawSink(name));
}
/**
* Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
* provided image will have three 3-bit channels stored in BGR order.
*
* @return Frame time, or 0 on error (call GetError() to obtain the error message)
*/
public long grabFrame(Mat image) {
return grabFrame(image, 0.225);
}
/**
* Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
* provided image will have three 3-bit channels stored in BGR order.
*
* @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
* is in 1 us increments.
*/
public long grabFrame(Mat image, double timeout) {
frame.setWidth(0);
frame.setHeight(0);
frame.setPixelFormat(bgrValue);
long rv = CameraServerJNI.grabSinkFrameTimeout(m_handle, frame, timeout);
if (rv <= 0) {
return rv;
}
if (frame.getDataByteBuffer() != origByteBuffer
|| width != frame.getWidth()
|| height != frame.getHeight()
|| pixelFormat != frame.getPixelFormat()) {
origByteBuffer = frame.getDataByteBuffer();
height = frame.getHeight();
width = frame.getWidth();
pixelFormat = frame.getPixelFormat();
tmpMat =
new Mat(
frame.getHeight(),
frame.getWidth(),
getCVFormat(VideoMode.getPixelFormatFromInt(pixelFormat)),
origByteBuffer);
}
tmpMat.copyTo(image);
return rv;
}
}

60
cscore/java-examples/RawCVMatSource.java
View File

@@ -1,60 +0,0 @@
// 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 edu.wpi.cscore;
import edu.wpi.cscore.VideoMode.PixelFormat;
import org.opencv.core.Mat;
public class RawCVMatSource extends ImageSource {
/**
* Create an OpenCV source.
*
* @param name Source name (arbitrary unique identifier)
* @param mode Video mode being generated
*/
public RawCVMatSource(String name, VideoMode mode) {
super(
CameraServerJNI.createRawSource(
name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
}
/**
* Create an OpenCV source.
*
* @param name Source name (arbitrary unique identifier)
* @param pixelFormat Pixel format
* @param width width
* @param height height
* @param fps fps
*/
public RawCVMatSource(
String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
super(CameraServerJNI.createRawSource(name, pixelFormat.getValue(), width, height, fps));
}
/**
* Put an OpenCV image and notify sinks.
*
* <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images are supported. If the
* format, depth or channel order is different, use Mat.convertTo() and/or cvtColor() to convert
* it first.
*
* @param image OpenCV image
*/
public void putFrame(Mat image) {
int channels = image.channels();
if (channels != 1 && channels != 3) {
throw new VideoException("Unsupported Image Type");
}
int imgType = channels == 1 ? PixelFormat.kGray.getValue() : PixelFormat.kBGR.getValue();
CameraServerJNI.putRawSourceFrame(
m_handle,
image.dataAddr(),
image.width(),
image.height(),
imgType,
(int) image.total() * channels);
}
}