burrow-pi-img/deps/tools/rpiConfigServer_src/VisionSettings.cpp

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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "VisionSettings.h"
#include <wpi/FileSystem.h>
#include <wpi/json.h>
#include <wpi/raw_istream.h>
#include <wpi/raw_ostream.h>
#include "VisionStatus.h"
std::shared_ptr<VisionSettings> VisionSettings::GetInstance() {
static auto inst = std::make_shared<VisionSettings>(private_init{});
return inst;
}
void VisionSettings::Set(const wpi::json& data,
std::function<void(wpi::StringRef)> onFail) {
{
// write file
std::error_code ec;
wpi::raw_fd_ostream os(FRC_JSON, ec, wpi::sys::fs::F_Text);
if (ec) {
onFail("could not write " FRC_JSON);
return;
}
data.dump(os, 4);
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os << '\n';
}
// terminate vision process so it reloads the file
VisionStatus::GetInstance()->Terminate(onFail);
UpdateStatus();
}
void VisionSettings::UpdateStatus() { status(GetStatusJson()); }
wpi::json VisionSettings::GetStatusJson() {
std::error_code ec;
wpi::raw_fd_istream is(FRC_JSON, ec);
if (ec) {
wpi::errs() << "could not read " FRC_JSON "\n";
return wpi::json();
}
try {
wpi::json j = {{"type", "visionSettings"},
{"settings", wpi::json::parse(is)}};
return j;
} catch (wpi::json::exception& e) {
wpi::errs() << "could not parse " FRC_JSON "\n";
return wpi::json();
}
}