Add java, cpp, and python examples
Peter Johnson
parent
1768bdaa4c
commit
88f549108f
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@ -4,12 +4,24 @@ DEST=${PWD}/../stage2/01-sys-tweaks/extfiles
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mkdir -p ${DEST}
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#
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# examples
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#
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mkdir -p examples/java-multiCameraServer/src/main/java
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cp allwpilib/cameraserver/multiCameraServer/src/main/java/Main.java examples/java-multiCameraServer/src/main/java/
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cp allwpilib/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp examples/cpp-multiCameraServer/
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sh -c 'cd examples && zip -r - java-multiCameraServer' > ${DEST}/java-multiCameraServer.zip
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sh -c 'cd examples && zip -r - cpp-multiCameraServer' > ${DEST}/cpp-multiCameraServer.zip
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sh -c 'cd examples && zip -r - python-multiCameraServer' > ${DEST}/python-multiCameraServer.zip
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#
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# tools
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#
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cp tools/setuidgids ${DEST}/
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cp tools/_cscore.so ${DEST}/_cscore.cpython-35m-arm-linux-gnueabihf.so
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cp tools/rpiConfigServer ${DEST}/
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#
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# openjdk
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@ -70,7 +82,9 @@ sh -c 'cd allwpilib/ntcore/src/main/native/include && tar czf - .' > ${DEST}/ntc
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sh -c 'cd allwpilib/cameraserver/src/main/native/include && tar czf - cameraserver vision' > ${DEST}/cameraserver-include.tar.gz
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cp \
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allwpilib/cameraserver/build/exe/multiCameraServer/multiCameraServer \
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allwpilib/cameraserver/multiCameraServer/build/exe/multiCameraServerCpp/multiCameraServerCpp \
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${DEST}/multiCameraServer
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cp \
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allwpilib/wpiutil/build/exe/netconsoleTee/netconsoleTee \
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allwpilib/wpiutil/build/exe/rpiConfigServer/rpiConfigServer \
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${DEST}/
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@ -1 +1 @@
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Subproject commit 26e8e587f9264b7d22b65a6b2934e04c25871349
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Subproject commit bfe15245a625d8e30351fc1096d2df1ca71210c3
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@ -0,0 +1,18 @@
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EXE=multiCameraServerExample
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DESTDIR?=/home/pi/
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.PHONY: clean build install
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build: ${EXE}
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install: build
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cp ${EXE} runCamera ${DESTDIR}
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clean:
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rm ${EXE} *.o
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${EXE}: main.o
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${CXX} -o $@ $< -L/usr/local/frc/lib -lcameraserver -lcscore -lntcore -lwpiutil
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.cpp.o:
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${CXX} -O -c -o $@ -I/usr/local/frc/include $<
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@ -0,0 +1,33 @@
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=======================
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Building locally on rPi
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=======================
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1) Run "make"
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2) Run "make install" (replaces /home/pi/runCamera)
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3) Run "./runInteractive" in /home/pi or "sudo svc -t /service/camera" to
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restart service.
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===================
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Building on desktop
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===================
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One time setup
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--------------
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Install the Raspbian compiler [1] as well as GNU make.
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[1]: https://github.com/wpilibsuite/raspbian-toolchain/releases
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The lib and include directories from the Pi /usr/local/frc/ directory must
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be copied to the desktop machine. Edit the Makefile to change
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/usr/local/frc/lib and /usr/local/frc/include to the local desktop locations.
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Building
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--------
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1) Run "make CXX=arm-raspbian9-linux-gnueabihf-g++"
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2) Copy multiCameraServerExample and runCamera to /home/pi on the Pi
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3) On the Pi, run "./runInteractive" in /home/pi or
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"sudo svc -t /service/camera" to restart service.
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@ -0,0 +1,4 @@
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#!/bin/sh
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echo "Waiting 5 seconds..."
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sleep 5
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exec ./multiCameraServerExample
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@ -0,0 +1,29 @@
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=======================
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Building locally on rPi
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=======================
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1) Run "./gradlew build"
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2) Run "./install.sh" (replaces /home/pi/runCamera)
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3) Run "./runInteractive" in /home/pi or "sudo svc -t /service/camera" to
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restart service.
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===================
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Building on desktop
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===================
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One time setup
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--------------
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Copy the .jar files from /home/pi/javalibs on the Pi to the source directory.
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Building
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--------
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1) Run "./gradlew build"
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2) Copy build/libs/java-multiCameraServer-all.jar and runCamera to /home/pi on
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the Pi. Note: the .jar filename may be different; if it is, either rename
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when copying to the Pi or edit runCamera to reflect the new jar name.
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3) On the Pi, run "./runInteractive" in /home/pi or
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"sudo svc -t /service/camera" to restart service.
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@ -0,0 +1,30 @@
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plugins {
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id 'java'
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id 'application'
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id 'com.github.johnrengelman.shadow' version '4.0.3' apply false
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}
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mainClassName = 'Main'
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apply plugin: 'com.github.johnrengelman.shadow'
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repositories {
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mavenCentral()
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flatDir {
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dirs '/home/pi/javalibs', '.'
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}
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}
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dependencies {
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compile 'com.google.code.gson:gson:2.8.5'
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compile name: 'wpiutil'
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compile name: 'ntcore'
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compile name: 'cscore'
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compile name: 'cameraserver'
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compile name: 'opencv-344'
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}
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wrapper {
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gradleVersion = '5.0'
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}
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Binary file not shown.
5
deps/examples/java-multiCameraServer/gradle/wrapper/gradle-wrapper.properties
vendored
Normal file
5
deps/examples/java-multiCameraServer/gradle/wrapper/gradle-wrapper.properties
vendored
Normal file
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distributionBase=GRADLE_USER_HOME
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distributionPath=wrapper/dists
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distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
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zipStoreBase=GRADLE_USER_HOME
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zipStorePath=wrapper/dists
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@ -0,0 +1,172 @@
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#!/usr/bin/env sh
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##############################################################################
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##
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## Gradle start up script for UN*X
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##
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##############################################################################
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# Attempt to set APP_HOME
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# Resolve links: $0 may be a link
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PRG="$0"
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# Need this for relative symlinks.
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while [ -h "$PRG" ] ; do
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ls=`ls -ld "$PRG"`
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link=`expr "$ls" : '.*-> \(.*\)$'`
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if expr "$link" : '/.*' > /dev/null; then
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PRG="$link"
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else
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PRG=`dirname "$PRG"`"/$link"
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fi
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done
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SAVED="`pwd`"
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cd "`dirname \"$PRG\"`/" >/dev/null
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APP_HOME="`pwd -P`"
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cd "$SAVED" >/dev/null
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APP_NAME="Gradle"
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APP_BASE_NAME=`basename "$0"`
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# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
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DEFAULT_JVM_OPTS='"-Xmx64m"'
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# Use the maximum available, or set MAX_FD != -1 to use that value.
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MAX_FD="maximum"
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warn () {
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echo "$*"
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}
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die () {
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echo
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echo "$*"
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echo
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exit 1
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}
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# OS specific support (must be 'true' or 'false').
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cygwin=false
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msys=false
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darwin=false
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nonstop=false
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case "`uname`" in
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CYGWIN* )
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cygwin=true
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;;
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Darwin* )
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darwin=true
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;;
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MINGW* )
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msys=true
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;;
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NONSTOP* )
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nonstop=true
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;;
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esac
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CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
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# Determine the Java command to use to start the JVM.
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if [ -n "$JAVA_HOME" ] ; then
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if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
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# IBM's JDK on AIX uses strange locations for the executables
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JAVACMD="$JAVA_HOME/jre/sh/java"
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else
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JAVACMD="$JAVA_HOME/bin/java"
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fi
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if [ ! -x "$JAVACMD" ] ; then
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die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
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Please set the JAVA_HOME variable in your environment to match the
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location of your Java installation."
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fi
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else
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JAVACMD="java"
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which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
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Please set the JAVA_HOME variable in your environment to match the
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location of your Java installation."
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fi
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# Increase the maximum file descriptors if we can.
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if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
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MAX_FD_LIMIT=`ulimit -H -n`
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if [ $? -eq 0 ] ; then
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if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
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MAX_FD="$MAX_FD_LIMIT"
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fi
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ulimit -n $MAX_FD
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if [ $? -ne 0 ] ; then
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warn "Could not set maximum file descriptor limit: $MAX_FD"
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fi
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else
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warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
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fi
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fi
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# For Darwin, add options to specify how the application appears in the dock
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if $darwin; then
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GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
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fi
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# For Cygwin, switch paths to Windows format before running java
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if $cygwin ; then
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APP_HOME=`cygpath --path --mixed "$APP_HOME"`
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CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
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JAVACMD=`cygpath --unix "$JAVACMD"`
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# We build the pattern for arguments to be converted via cygpath
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ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
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SEP=""
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for dir in $ROOTDIRSRAW ; do
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ROOTDIRS="$ROOTDIRS$SEP$dir"
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SEP="|"
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done
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OURCYGPATTERN="(^($ROOTDIRS))"
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# Add a user-defined pattern to the cygpath arguments
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if [ "$GRADLE_CYGPATTERN" != "" ] ; then
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OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
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fi
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# Now convert the arguments - kludge to limit ourselves to /bin/sh
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i=0
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for arg in "$@" ; do
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CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
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CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
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if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
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eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
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else
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eval `echo args$i`="\"$arg\""
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fi
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i=$((i+1))
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done
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case $i in
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(0) set -- ;;
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(1) set -- "$args0" ;;
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(2) set -- "$args0" "$args1" ;;
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(3) set -- "$args0" "$args1" "$args2" ;;
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(4) set -- "$args0" "$args1" "$args2" "$args3" ;;
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(5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
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(6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
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(7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
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(8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
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(9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
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esac
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fi
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# Escape application args
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save () {
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for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
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echo " "
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}
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APP_ARGS=$(save "$@")
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# Collect all arguments for the java command, following the shell quoting and substitution rules
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eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
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# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
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if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
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cd "$(dirname "$0")"
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fi
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exec "$JAVACMD" "$@"
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@ -0,0 +1,84 @@
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@if "%DEBUG%" == "" @echo off
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@rem ##########################################################################
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@rem
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@rem Gradle startup script for Windows
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@rem
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@rem ##########################################################################
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@rem Set local scope for the variables with windows NT shell
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if "%OS%"=="Windows_NT" setlocal
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set DIRNAME=%~dp0
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if "%DIRNAME%" == "" set DIRNAME=.
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set APP_BASE_NAME=%~n0
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set APP_HOME=%DIRNAME%
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@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
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set DEFAULT_JVM_OPTS="-Xmx64m"
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@rem Find java.exe
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if defined JAVA_HOME goto findJavaFromJavaHome
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set JAVA_EXE=java.exe
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%JAVA_EXE% -version >NUL 2>&1
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if "%ERRORLEVEL%" == "0" goto init
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echo.
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echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
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echo.
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echo Please set the JAVA_HOME variable in your environment to match the
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echo location of your Java installation.
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goto fail
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:findJavaFromJavaHome
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set JAVA_HOME=%JAVA_HOME:"=%
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set JAVA_EXE=%JAVA_HOME%/bin/java.exe
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if exist "%JAVA_EXE%" goto init
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echo.
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echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
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echo.
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echo Please set the JAVA_HOME variable in your environment to match the
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echo location of your Java installation.
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goto fail
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:init
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@rem Get command-line arguments, handling Windows variants
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if not "%OS%" == "Windows_NT" goto win9xME_args
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:win9xME_args
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@rem Slurp the command line arguments.
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set CMD_LINE_ARGS=
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set _SKIP=2
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:win9xME_args_slurp
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if "x%~1" == "x" goto execute
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set CMD_LINE_ARGS=%*
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:execute
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@rem Setup the command line
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set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
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@rem Execute Gradle
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"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
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:end
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@rem End local scope for the variables with windows NT shell
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if "%ERRORLEVEL%"=="0" goto mainEnd
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:fail
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rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
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rem the _cmd.exe /c_ return code!
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if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
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exit /b 1
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:mainEnd
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if "%OS%"=="Windows_NT" endlocal
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:omega
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@ -0,0 +1,2 @@
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#!/bin/sh
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cp build/libs/java-multiCameraServer-all.jar runCamera /home/pi
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@ -0,0 +1,4 @@
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#!/bin/sh
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echo "Waiting 5 seconds..."
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sleep 5
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exec env LD_LIBRARY_PATH=/usr/local/frc/lib java -jar java-multiCameraServer-all.jar
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@ -0,0 +1,17 @@
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=======================
|
||||
Building locally on rPi
|
||||
=======================
|
||||
|
||||
1) Copy multiCameraServer.py and runCamera to /home/pi
|
||||
2) Run "./runInteractive" in /home/pi or "sudo svc -t /service/camera" to
|
||||
restart service.
|
||||
|
||||
|
||||
===================
|
||||
Building on desktop
|
||||
===================
|
||||
|
||||
1) Copy multiCameraServer.py and runCamera to /home/pi on the Pi
|
||||
2) On the Pi, run "./runInteractive" in /home/pi or
|
||||
"sudo svc -t /service/camera" to restart service.
|
||||
|
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|
|
@ -0,0 +1,154 @@
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#!/usr/bin/env python3
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#----------------------------------------------------------------------------
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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.
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||||
#----------------------------------------------------------------------------
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||||
|
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import json
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import time
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import sys
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||||
|
||||
from cscore import CameraServer, VideoSource
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from networktables import NetworkTablesInstance
|
||||
|
||||
# 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>
|
||||
# }
|
||||
# ]
|
||||
# }
|
||||
# ]
|
||||
# }
|
||||
|
||||
configFile = "/boot/frc.json"
|
||||
|
||||
class CameraConfig: pass
|
||||
|
||||
team = None
|
||||
server = False
|
||||
cameras = []
|
||||
|
||||
"""Report parse error."""
|
||||
def parseError(str):
|
||||
print("config error in '" + configFile + "': " + str, file=sys.stderr)
|
||||
|
||||
"""Read single camera configuration."""
|
||||
def readCameraConfig(config):
|
||||
cam = CameraConfig()
|
||||
|
||||
# name
|
||||
try:
|
||||
cam.name = config["name"]
|
||||
except KeyError:
|
||||
parseError("could not read camera name")
|
||||
return False
|
||||
|
||||
# path
|
||||
try:
|
||||
cam.path = config["path"]
|
||||
except KeyError:
|
||||
parseError("camera '{}': could not read path".format(cam.name))
|
||||
return False
|
||||
|
||||
cam.config = config
|
||||
|
||||
cameras.append(cam)
|
||||
return True
|
||||
|
||||
"""Read configuration file."""
|
||||
def readConfig():
|
||||
global team
|
||||
global server
|
||||
|
||||
# parse file
|
||||
try:
|
||||
with open(configFile, "rt") as f:
|
||||
j = json.load(f)
|
||||
except OSError as err:
|
||||
print("could not open '{}': {}".format(configFile, err), file=sys.stderr)
|
||||
return False
|
||||
|
||||
# top level must be an object
|
||||
if not isinstance(j, dict):
|
||||
parseError("must be JSON object")
|
||||
return False
|
||||
|
||||
# team number
|
||||
try:
|
||||
team = j["team"]
|
||||
except KeyError:
|
||||
parseError("could not read team number")
|
||||
return False
|
||||
|
||||
# ntmode (optional)
|
||||
if "ntmode" in j:
|
||||
str = j["ntmode"]
|
||||
if str.lower() == "client":
|
||||
server = False
|
||||
elif str.lower() == "server":
|
||||
server = True
|
||||
else:
|
||||
parseError("could not understand ntmode value '{}'".format(str))
|
||||
|
||||
# cameras
|
||||
try:
|
||||
cameras = j["cameras"]
|
||||
except KeyError:
|
||||
parseError("could not read cameras")
|
||||
return False
|
||||
for camera in cameras:
|
||||
if not readCameraConfig(camera):
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
"""Start running the camera."""
|
||||
def startCamera(config):
|
||||
print("Starting camera '{}' on {}".format(config.name, config.path))
|
||||
camera = CameraServer.getInstance() \
|
||||
.startAutomaticCapture(name=config.name, path=config.path)
|
||||
|
||||
camera.setConfigJson(json.dumps(config.config))
|
||||
|
||||
if __name__ == "__main__":
|
||||
if len(sys.argv) >= 2:
|
||||
configFile = sys.argv[1]
|
||||
|
||||
# read configuration
|
||||
if not readConfig():
|
||||
sys.exit(1)
|
||||
|
||||
# start NetworkTables
|
||||
ntinst = NetworkTablesInstance.getDefault()
|
||||
if server:
|
||||
print("Setting up NetworkTables server")
|
||||
ntinst.startServer()
|
||||
else:
|
||||
print("Setting up NetworkTables client for team {}".format(team))
|
||||
ntinst.startClientTeam(team)
|
||||
|
||||
# start cameras
|
||||
for camera in cameras:
|
||||
startCamera(camera)
|
||||
|
||||
# loop forever
|
||||
while True:
|
||||
time.sleep(10)
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
#!/bin/sh
|
||||
echo "Waiting 5 seconds..."
|
||||
sleep 5
|
||||
exec ./multiCameraServer.py
|
||||
|
|
@ -102,7 +102,17 @@ cat extfiles/cscore-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/inclu
|
|||
cat extfiles/ntcore-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
|
||||
cat extfiles/cameraserver-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
|
||||
|
||||
install -v -o 1000 -g 1000 -d "${ROOTFS_DIR}/home/pi/java-example/"
|
||||
install -v -o 1000 -g 1000 -d "${ROOTFS_DIR}/home/pi/examples/"
|
||||
install -v -o 1000 -g 1000 extfiles/*-multiCameraServer.zip "${ROOTFS_DIR}/home/pi/examples/"
|
||||
on_chroot << EOF
|
||||
cd /home/pi/examples/
|
||||
unzip java-multiCameraServer.zip
|
||||
unzip cpp-multiCameraServer.zip
|
||||
unzip python-multiCameraServer.zip
|
||||
mkdir zips
|
||||
mv *.zip zips/
|
||||
chown -R 1000:1000 .
|
||||
EOF
|
||||
|
||||
install -v -o 1000 -g 1000 -d "${ROOTFS_DIR}/home/pi/javalibs/"
|
||||
install -m 644 -o 1000 -g 1000 extfiles/*.jar "${ROOTFS_DIR}/home/pi/javalibs/"
|
||||
|
|
|
|||
Loading…
Reference in New Issue