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https://github.com/wpilibsuite/allwpilib
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80f87ff8ad
Add a Sendable wrapper for VideoSource objects. Add convenience methods for adding video sources directly to containers so users won't have to manually wrap video sources.
47 lines
1.6 KiB
C++
47 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/shuffleboard/SendableCameraWrapper.h"
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#include <cscore_oo.h>
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#include <wpi/DenseMap.h>
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#include "frc/smartdashboard/SendableBuilder.h"
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using namespace frc;
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namespace {
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constexpr const char* kProtocol = "camera_server://";
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wpi::DenseMap<int, std::unique_ptr<SendableCameraWrapper>> wrappers;
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} // namespace
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SendableCameraWrapper& SendableCameraWrapper::Wrap(
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const cs::VideoSource& source) {
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return Wrap(source.GetHandle());
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}
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SendableCameraWrapper& SendableCameraWrapper::Wrap(CS_Source source) {
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auto& wrapper = wrappers[static_cast<int>(source)];
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if (!wrapper)
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wrapper = std::make_unique<SendableCameraWrapper>(source, private_init{});
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return *wrapper;
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}
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SendableCameraWrapper::SendableCameraWrapper(CS_Source source,
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const private_init&)
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: SendableBase(false), m_uri(kProtocol) {
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CS_Status status = 0;
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auto name = cs::GetSourceName(source, &status);
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SetName(name);
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m_uri += name;
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}
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void SendableCameraWrapper::InitSendable(SendableBuilder& builder) {
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builder.AddStringProperty(".ShuffleboardURI", [this] { return m_uri; },
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nullptr);
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}
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