66 lines
1.8 KiB
C++
66 lines
1.8 KiB
C++
|
/*----------------------------------------------------------------------------*/
|
||
|
|
/* 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"
|
||
|
|
|
||
|
|
#ifdef __RASPBIAN9__
|
||
|
|
#define FRC_JSON "/boot/frc.json"
|
||
|
|
#else
|
||
|
|
#define FRC_JSON "frc.json"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
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);
|
||
|
|
}
|
||
|
|
|
||
|
|
// 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();
|
||
|
|
}
|
||
|
|
}
|