mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
b2c3b2dd8e
- Twine, StringRef, Format, and NativeFormatting have been removed - Logging now uses fmtlib style formatting - Nearly all uses of wpi::outs/errs have been replaced with fmt::print() or std::puts()/std::fputs() (for unformatted strings). - A wpi/fmt/raw_ostream.h header has been added to enable fmt::print() with wpi::raw_ostream
100 lines
2.6 KiB
C++
100 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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#include "Instance.h"
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#include <string_view>
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#include <fmt/format.h>
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#include <wpi/fs.h>
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using namespace cs;
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static void def_log_func(unsigned int level, const char* file,
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unsigned int line, const char* msg) {
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if (level == 20) {
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fmt::print(stderr, "CS: {}\n", msg);
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return;
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}
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std::string_view levelmsg;
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if (level >= 50) {
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levelmsg = "CRITICAL";
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} else if (level >= 40) {
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levelmsg = "ERROR";
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} else if (level >= 30) {
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levelmsg = "WARNING";
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} else {
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return;
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}
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fmt::print(stderr, "CS: {}: {} ({}:{})\n", levelmsg, msg,
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fs::path{file}.filename().string(), line);
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}
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Instance::Instance()
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: telemetry(notifier),
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networkListener(logger, notifier),
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usbCameraListener(logger, notifier) {
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SetDefaultLogger();
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}
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Instance::~Instance() = default;
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Instance& Instance::GetInstance() {
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static Instance* inst = new Instance;
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return *inst;
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}
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void Instance::Shutdown() {
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eventLoop.Stop();
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m_sinks.FreeAll();
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m_sources.FreeAll();
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networkListener.Stop();
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usbCameraListener.Stop();
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telemetry.Stop();
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notifier.Stop();
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}
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void Instance::SetDefaultLogger() {
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logger.SetLogger(def_log_func);
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}
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std::pair<CS_Source, std::shared_ptr<SourceData>> Instance::FindSource(
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const SourceImpl& source) {
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return m_sources.FindIf(
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[&](const SourceData& data) { return data.source.get() == &source; });
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}
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std::pair<CS_Sink, std::shared_ptr<SinkData>> Instance::FindSink(
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const SinkImpl& sink) {
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return m_sinks.FindIf(
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[&](const SinkData& data) { return data.sink.get() == &sink; });
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}
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CS_Source Instance::CreateSource(CS_SourceKind kind,
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std::shared_ptr<SourceImpl> source) {
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auto handle = m_sources.Allocate(kind, source);
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notifier.NotifySource(source->GetName(), handle, CS_SOURCE_CREATED);
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source->Start();
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return handle;
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}
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CS_Sink Instance::CreateSink(CS_SinkKind kind, std::shared_ptr<SinkImpl> sink) {
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auto handle = m_sinks.Allocate(kind, sink);
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notifier.NotifySink(sink->GetName(), handle, CS_SINK_CREATED);
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return handle;
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}
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void Instance::DestroySource(CS_Source handle) {
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if (auto data = m_sources.Free(handle)) {
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notifier.NotifySource(data->source->GetName(), handle, CS_SOURCE_DESTROYED);
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}
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}
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void Instance::DestroySink(CS_Sink handle) {
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if (auto data = m_sinks.Free(handle)) {
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notifier.NotifySink(data->sink->GetName(), handle, CS_SINK_DESTROYED);
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}
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}
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