Move default multiCameraServer from allwpilib to tools
Peter Johnson
parent
e78e471f97
commit
3f2ab23563
|
|
@ -19,6 +19,8 @@ sh -c 'cd examples && zip -r - python-multiCameraServer' > ${DEST}/python-multiC
|
|||
cp tools/setuidgids ${DEST}/
|
||||
cp tools/_cscore.so ${DEST}/_cscore.cpython-35m-arm-linux-gnueabihf.so
|
||||
cp tools/_cscore.so.debug ${DEST}/
|
||||
cp tools/multiCameraServer ${DEST}/
|
||||
cp tools/multiCameraServer.debug ${DEST}/
|
||||
cp tools/rpiConfigServer ${DEST}/
|
||||
cp tools/rpiConfigServer.debug ${DEST}/
|
||||
|
||||
|
|
@ -72,4 +74,4 @@ sh -c 'cd allwpilib/cscore/src/main/native/include && tar czf - .' > ${DEST}/csc
|
|||
sh -c 'cd allwpilib/ntcore/src/main/native/include && tar czf - .' > ${DEST}/ntcore-include.tar.gz
|
||||
sh -c 'cd allwpilib/cameraserver/src/main/native/include && tar czf - cameraserver vision' > ${DEST}/cameraserver-include.tar.gz
|
||||
|
||||
sh -c 'cd 03-build/allwpilib-static/bin && tar czf - cscore_* multiCameraServer* netconsoleTee*' > ${DEST}/wpilib-bin.tar.gz
|
||||
sh -c 'cd 03-build/allwpilib-static/bin && tar czf - cscore_* netconsoleTee*' > ${DEST}/wpilib-bin.tar.gz
|
||||
|
|
|
|||
|
|
@ -4,6 +4,7 @@ WPILIB_SRC?=../allwpilib
|
|||
WPILIB_BUILD?=../03-build/allwpilib-build
|
||||
WPILIB_STATIC_BUILD?=../03-build/allwpilib-static
|
||||
OPENCV_INSTALL?=../03-build/opencv-build/install
|
||||
OPENCV_STATIC_INSTALL?=../03-build/opencv-static/install
|
||||
EXEC_HOME?=/home/pi
|
||||
FRC_JSON?=/boot/frc.json
|
||||
DHCPCD_CONF?=/boot/dhcpcd.conf
|
||||
|
|
@ -42,6 +43,27 @@ _cscore.so: ../robotpy-cscore/src/_cscore.cpp ../robotpy-cscore/src/ndarray_conv
|
|||
${COMPILER}strip -g $@
|
||||
${COMPILER}objcopy --add-gnu-debuglink=$@.debug $@
|
||||
|
||||
multiCameraServer: multiCameraServer.cpp
|
||||
${COMPILER}g++ -pthread -g -o $@ \
|
||||
-I${OPENCV_INSTALL}/include \
|
||||
-I${WPILIB_SRC}/wpiutil/src/main/native/include \
|
||||
-I${WPILIB_SRC}/cameraserver/src/main/native/include \
|
||||
-I${WPILIB_SRC}/cscore/src/main/native/include \
|
||||
-I${WPILIB_SRC}/ntcore/src/main/native/include \
|
||||
-L${WPILIB_STATIC_BUILD}/lib \
|
||||
-L${OPENCV_STATIC_INSTALL}/lib \
|
||||
-L${OPENCV_STATIC_INSTALL}/share/OpenCV/3rdparty/lib \
|
||||
$< \
|
||||
-lcameraserver \
|
||||
-lcscore \
|
||||
-lntcore \
|
||||
-lwpiutil \
|
||||
-lopencv_highgui -lopencv_imgcodecs -lopencv_imgproc -lopencv_core \
|
||||
-ltegra_hal -llibpng -llibjpeg-turbo -lzlib
|
||||
${COMPILER}objcopy --only-keep-debug $@ $@.debug
|
||||
${COMPILER}strip -g $@
|
||||
${COMPILER}objcopy --add-gnu-debuglink=$@.debug $@
|
||||
|
||||
RPICONFIGSERVER_OBJS= \
|
||||
rpiConfigServer_src/main.o \
|
||||
rpiConfigServer_src/Application.o \
|
||||
|
|
|
|||
|
|
@ -0,0 +1,190 @@
|
|||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 <cstdio>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include <networktables/NetworkTableInstance.h>
|
||||
#include <wpi/StringRef.h>
|
||||
#include <wpi/json.h>
|
||||
#include <wpi/raw_istream.h>
|
||||
#include <wpi/raw_ostream.h>
|
||||
|
||||
#include "cameraserver/CameraServer.h"
|
||||
|
||||
/*
|
||||
JSON format:
|
||||
{
|
||||
"team": <team number>,
|
||||
"ntmode": <"client" or "server", "client" if unspecified>
|
||||
"cameras": [
|
||||
{
|
||||
"name": <camera name>
|
||||
"path": <path, e.g. "/dev/video0">
|
||||
"pixel format": <"MJPEG", "YUYV", etc> // optional
|
||||
"width": <video mode width> // optional
|
||||
"height": <video mode height> // optional
|
||||
"fps": <video mode fps> // optional
|
||||
"brightness": <percentage brightness> // optional
|
||||
"white balance": <"auto", "hold", value> // optional
|
||||
"exposure": <"auto", "hold", value> // optional
|
||||
"properties": [ // optional
|
||||
{
|
||||
"name": <property name>
|
||||
"value": <property value>
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
*/
|
||||
|
||||
#ifdef __RASPBIAN__
|
||||
static const char* configFile = "/boot/frc.json";
|
||||
#else
|
||||
static const char* configFile = "frc.json";
|
||||
#endif
|
||||
|
||||
namespace {
|
||||
|
||||
unsigned int team;
|
||||
bool server = false;
|
||||
|
||||
struct CameraConfig {
|
||||
std::string name;
|
||||
std::string path;
|
||||
wpi::json config;
|
||||
};
|
||||
|
||||
std::vector<CameraConfig> cameras;
|
||||
|
||||
wpi::raw_ostream& ParseError() {
|
||||
return wpi::errs() << "config error in '" << configFile << "': ";
|
||||
}
|
||||
|
||||
bool ReadCameraConfig(const wpi::json& config) {
|
||||
CameraConfig c;
|
||||
|
||||
// name
|
||||
try {
|
||||
c.name = config.at("name").get<std::string>();
|
||||
} catch (const wpi::json::exception& e) {
|
||||
ParseError() << "could not read camera name: " << e.what() << '\n';
|
||||
return false;
|
||||
}
|
||||
|
||||
// path
|
||||
try {
|
||||
c.path = config.at("path").get<std::string>();
|
||||
} catch (const wpi::json::exception& e) {
|
||||
ParseError() << "camera '" << c.name
|
||||
<< "': could not read path: " << e.what() << '\n';
|
||||
return false;
|
||||
}
|
||||
|
||||
c.config = config;
|
||||
|
||||
cameras.emplace_back(std::move(c));
|
||||
return true;
|
||||
}
|
||||
|
||||
bool ReadConfig() {
|
||||
// open config file
|
||||
std::error_code ec;
|
||||
wpi::raw_fd_istream is(configFile, ec);
|
||||
if (ec) {
|
||||
wpi::errs() << "could not open '" << configFile << "': " << ec.message()
|
||||
<< '\n';
|
||||
return false;
|
||||
}
|
||||
|
||||
// parse file
|
||||
wpi::json j;
|
||||
try {
|
||||
j = wpi::json::parse(is);
|
||||
} catch (const wpi::json::parse_error& e) {
|
||||
ParseError() << "byte " << e.byte << ": " << e.what() << '\n';
|
||||
return false;
|
||||
}
|
||||
|
||||
// top level must be an object
|
||||
if (!j.is_object()) {
|
||||
ParseError() << "must be JSON object\n";
|
||||
return false;
|
||||
}
|
||||
|
||||
// team number
|
||||
try {
|
||||
team = j.at("team").get<unsigned int>();
|
||||
} catch (const wpi::json::exception& e) {
|
||||
ParseError() << "could not read team number: " << e.what() << '\n';
|
||||
return false;
|
||||
}
|
||||
|
||||
// ntmode (optional)
|
||||
if (j.count("ntmode") != 0) {
|
||||
try {
|
||||
auto str = j.at("ntmode").get<std::string>();
|
||||
wpi::StringRef s(str);
|
||||
if (s.equals_lower("client")) {
|
||||
server = false;
|
||||
} else if (s.equals_lower("server")) {
|
||||
server = true;
|
||||
} else {
|
||||
ParseError() << "could not understand ntmode value '" << str << "'\n";
|
||||
}
|
||||
} catch (const wpi::json::exception& e) {
|
||||
ParseError() << "could not read ntmode: " << e.what() << '\n';
|
||||
}
|
||||
}
|
||||
|
||||
// cameras
|
||||
try {
|
||||
for (auto&& camera : j.at("cameras")) {
|
||||
if (!ReadCameraConfig(camera)) return false;
|
||||
}
|
||||
} catch (const wpi::json::exception& e) {
|
||||
ParseError() << "could not read cameras: " << e.what() << '\n';
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void StartCamera(const CameraConfig& config) {
|
||||
wpi::outs() << "Starting camera '" << config.name << "' on " << config.path
|
||||
<< '\n';
|
||||
auto camera = frc::CameraServer::GetInstance()->StartAutomaticCapture(
|
||||
config.name, config.path);
|
||||
|
||||
camera.SetConfigJson(config.config);
|
||||
}
|
||||
} // namespace
|
||||
|
||||
int main(int argc, char* argv[]) {
|
||||
if (argc >= 2) configFile = argv[1];
|
||||
|
||||
// read configuration
|
||||
if (!ReadConfig()) return EXIT_FAILURE;
|
||||
|
||||
// start NetworkTables
|
||||
auto ntinst = nt::NetworkTableInstance::GetDefault();
|
||||
if (server) {
|
||||
wpi::outs() << "Setting up NetworkTables server\n";
|
||||
ntinst.StartServer();
|
||||
} else {
|
||||
wpi::outs() << "Setting up NetworkTables client for team " << team << '\n';
|
||||
ntinst.StartClientTeam(team);
|
||||
}
|
||||
|
||||
// start cameras
|
||||
for (auto&& camera : cameras) StartCamera(camera);
|
||||
|
||||
// loop forever
|
||||
for (;;) std::this_thread::sleep_for(std::chrono::seconds(10));
|
||||
}
|
||||
|
|
@ -87,6 +87,9 @@ install -m 644 files/ld.so.conf.d/*.conf "${ROOTFS_DIR}/etc/ld.so.conf.d/"
|
|||
|
||||
install -v -d "${ROOTFS_DIR}/usr/local/frc/bin"
|
||||
|
||||
install -m 755 extfiles/multiCameraServer "${ROOTFS_DIR}/usr/local/frc/bin/"
|
||||
install -m 644 extfiles/multiCameraServer.debug "${ROOTFS_DIR}/usr/local/frc/bin/"
|
||||
|
||||
cat extfiles/wpilib-bin.tar.gz | sh -c 'cd ${ROOTFS_DIR}/usr/local/frc/bin/ && tar xzf -'
|
||||
|
||||
install -v -d "${ROOTFS_DIR}/usr/local/frc/lib"
|
||||
|
|
|
|||
Loading…
Reference in New Issue