mirror of
https://github.com/wpilibsuite/allwpilib
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44b9cc1398
GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a This mirrors the robotpy files for the following projects: - apriltag - datalog - hal - ntcore - romiVendordep - wpilibc - wpimath - xrpVendordep This excludes cscore and the halsim wrappers for at this time. NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.
95 lines
3.0 KiB
Python
95 lines
3.0 KiB
Python
from typing import Optional
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import hal
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import subprocess
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import threading
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import logging
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logger = logging.getLogger("wpilib.cs")
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__all__ = ["CameraServer"]
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class CameraServer:
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"""
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Provides a way to launch an out of process cscore-based camera
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service instance, for streaming or for image processing.
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.. note:: This does not correspond directly to the wpilib
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CameraServer object; that can be found as
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:class:`cscore.CameraServer`. However, you should
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not use cscore directly from your robot code, see
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the documentation for details
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"""
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_alive = False
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_launched = False
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@classmethod
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def is_alive(cls) -> bool:
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""":returns: True if the CameraServer is still alive"""
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return cls._alive
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@classmethod
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def launch(cls, vision_py: Optional[str] = None) -> None:
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"""
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Launches the CameraServer process in autocapture mode or
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using a user-specified python script
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:param vision_py: If specified, this is the relative path to
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a filename with a function in it
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Example usage::
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wpilib.CameraServer.launch("vision.py:main")
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.. warning:: You must have robotpy-cscore installed, or this
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function will fail without returning an error
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(you will see an error in the console).
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"""
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if cls._launched:
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return
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cls._launched = True
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from ._wpilib import RobotBase
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if RobotBase.isSimulation():
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logger.info("Would launch CameraServer with vision_py=%s", vision_py)
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cls._alive = True
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else:
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logger.info("Launching CameraServer process")
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# Launch the cscore launcher in a separate process
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import sys
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args = [sys.executable, "-m", "cscore"]
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# TODO: Get accurate reporting data from the other cscore process. For
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# now, just differentiate between users with a custom py file and those
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# who do not. cscore handle values indicate type with bits 24-30
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if vision_py:
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hal.reportUsage("RobotPy/CameraServer", vision_py)
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if not vision_py.startswith("/"):
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vision_py = "/home/systemcore/py/" + vision_py
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args.append(vision_py)
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else:
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hal.reportUsage("RobotPy/CameraServer", "")
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# We open a pipe to it so that when this process exits, it dies
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proc = subprocess.Popen(
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args, close_fds=True, stdin=subprocess.PIPE, cwd="/home/systemcore/py"
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)
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th = threading.Thread(target=cls._monitor_child, args=(proc,))
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th.daemon = True
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th.start()
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@classmethod
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def _monitor_child(cls, proc: subprocess.Popen) -> None:
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proc.wait()
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logger.warning("CameraServer process exited with exitcode %s", proc.returncode)
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cls._alive = False
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