mirror of
https://github.com/wpilibsuite/allwpilib
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2aed432b4b
This makes code easier to read and more consistent between C++ and Java. Also update clang-format settings to always add a line break (even if no braces are used).
94 lines
2.6 KiB
C++
94 lines
2.6 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include <memory>
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#include <string>
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#ifndef DYNAMIC_CAMERA_SERVER
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#include <cscore_oo.h>
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#else
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namespace cs {
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class VideoSource;
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} // namespace cs
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typedef int CS_Handle;
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typedef CS_Handle CS_Source;
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#endif
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SendableCameraWrapper;
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namespace detail {
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constexpr const char* kProtocol = "camera_server://";
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std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
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CS_Source source);
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void AddToSendableRegistry(Sendable* sendable, std::string name);
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} // namespace detail
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/**
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* A wrapper to make video sources sendable and usable from Shuffleboard.
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*/
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class SendableCameraWrapper : public Sendable,
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public SendableHelper<SendableCameraWrapper> {
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private:
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struct private_init {};
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public:
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/**
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* Creates a new sendable wrapper. Private constructor to avoid direct
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* instantiation with multiple wrappers floating around for the same camera.
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*
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* @param source the source to wrap
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*/
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SendableCameraWrapper(CS_Source source, const private_init&);
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/**
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* Gets a sendable wrapper object for the given video source, creating the
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* wrapper if one does not already exist for the source.
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*
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* @param source the video source to wrap
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* @return a sendable wrapper object for the video source, usable in
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* Shuffleboard via ShuffleboardTab::Add() and ShuffleboardLayout::Add()
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*/
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static SendableCameraWrapper& Wrap(const cs::VideoSource& source);
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static SendableCameraWrapper& Wrap(CS_Source source);
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void InitSendable(SendableBuilder& builder) override;
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private:
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std::string m_uri;
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};
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#ifndef DYNAMIC_CAMERA_SERVER
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inline SendableCameraWrapper::SendableCameraWrapper(CS_Source source,
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const private_init&)
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: m_uri(detail::kProtocol) {
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CS_Status status = 0;
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auto name = cs::GetSourceName(source, &status);
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detail::AddToSendableRegistry(this, name);
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m_uri += name;
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}
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inline 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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inline SendableCameraWrapper& SendableCameraWrapper::Wrap(CS_Source source) {
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auto& wrapper = detail::GetSendableCameraWrapper(source);
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if (!wrapper) {
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wrapper = std::make_shared<SendableCameraWrapper>(source, private_init{});
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}
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return *wrapper;
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}
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#endif
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} // namespace frc
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