From 88f549108fee25fc87f58c2f113c96244aa27c84 Mon Sep 17 00:00:00 2001 From: Peter Johnson Date: Sat, 8 Dec 2018 00:41:12 -0800 Subject: [PATCH] Add java, cpp, and python examples --- deps/04-copy.sh | 18 +- deps/allwpilib | 2 +- deps/examples/cpp-multiCameraServer/Makefile | 18 ++ .../examples/cpp-multiCameraServer/README.txt | 33 ++++ deps/examples/cpp-multiCameraServer/runCamera | 4 + .../java-multiCameraServer/README.txt | 29 +++ .../java-multiCameraServer/build.gradle | 30 +++ .../gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 55741 bytes .../gradle/wrapper/gradle-wrapper.properties | 5 + deps/examples/java-multiCameraServer/gradlew | 172 ++++++++++++++++++ .../java-multiCameraServer/gradlew.bat | 84 +++++++++ .../java-multiCameraServer/install.sh | 2 + .../examples/java-multiCameraServer/runCamera | 4 + .../python-multiCameraServer/README.txt | 17 ++ .../multiCameraServer.py | 154 ++++++++++++++++ .../python-multiCameraServer/runCamera | 4 + stage2/01-sys-tweaks/01-run.sh | 12 +- 17 files changed, 584 insertions(+), 4 deletions(-) create mode 100644 deps/examples/cpp-multiCameraServer/Makefile create mode 100644 deps/examples/cpp-multiCameraServer/README.txt create mode 100755 deps/examples/cpp-multiCameraServer/runCamera create mode 100644 deps/examples/java-multiCameraServer/README.txt create mode 100644 deps/examples/java-multiCameraServer/build.gradle create mode 100644 deps/examples/java-multiCameraServer/gradle/wrapper/gradle-wrapper.jar create mode 100644 deps/examples/java-multiCameraServer/gradle/wrapper/gradle-wrapper.properties create mode 100755 deps/examples/java-multiCameraServer/gradlew create mode 100644 deps/examples/java-multiCameraServer/gradlew.bat create mode 100755 deps/examples/java-multiCameraServer/install.sh create mode 100755 deps/examples/java-multiCameraServer/runCamera create mode 100644 deps/examples/python-multiCameraServer/README.txt create mode 100755 deps/examples/python-multiCameraServer/multiCameraServer.py create mode 100755 deps/examples/python-multiCameraServer/runCamera diff --git a/deps/04-copy.sh b/deps/04-copy.sh index fac74e2..6398294 100755 --- a/deps/04-copy.sh +++ b/deps/04-copy.sh @@ -4,12 +4,24 @@ DEST=${PWD}/../stage2/01-sys-tweaks/extfiles mkdir -p ${DEST} +# +# examples +# +mkdir -p examples/java-multiCameraServer/src/main/java +cp allwpilib/cameraserver/multiCameraServer/src/main/java/Main.java examples/java-multiCameraServer/src/main/java/ +cp allwpilib/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp examples/cpp-multiCameraServer/ + +sh -c 'cd examples && zip -r - java-multiCameraServer' > ${DEST}/java-multiCameraServer.zip +sh -c 'cd examples && zip -r - cpp-multiCameraServer' > ${DEST}/cpp-multiCameraServer.zip +sh -c 'cd examples && zip -r - python-multiCameraServer' > ${DEST}/python-multiCameraServer.zip + # # tools # cp tools/setuidgids ${DEST}/ cp tools/_cscore.so ${DEST}/_cscore.cpython-35m-arm-linux-gnueabihf.so +cp tools/rpiConfigServer ${DEST}/ # # openjdk @@ -70,7 +82,9 @@ sh -c 'cd allwpilib/ntcore/src/main/native/include && tar czf - .' > ${DEST}/ntc sh -c 'cd allwpilib/cameraserver/src/main/native/include && tar czf - cameraserver vision' > ${DEST}/cameraserver-include.tar.gz cp \ - allwpilib/cameraserver/build/exe/multiCameraServer/multiCameraServer \ + allwpilib/cameraserver/multiCameraServer/build/exe/multiCameraServerCpp/multiCameraServerCpp \ + ${DEST}/multiCameraServer + +cp \ allwpilib/wpiutil/build/exe/netconsoleTee/netconsoleTee \ - allwpilib/wpiutil/build/exe/rpiConfigServer/rpiConfigServer \ ${DEST}/ diff --git a/deps/allwpilib b/deps/allwpilib index 26e8e58..bfe1524 160000 --- a/deps/allwpilib +++ b/deps/allwpilib @@ -1 +1 @@ -Subproject commit 26e8e587f9264b7d22b65a6b2934e04c25871349 +Subproject commit bfe15245a625d8e30351fc1096d2df1ca71210c3 diff --git a/deps/examples/cpp-multiCameraServer/Makefile b/deps/examples/cpp-multiCameraServer/Makefile new file mode 100644 index 0000000..b412fa6 --- /dev/null +++ b/deps/examples/cpp-multiCameraServer/Makefile @@ -0,0 +1,18 @@ +EXE=multiCameraServerExample +DESTDIR?=/home/pi/ + +.PHONY: clean build install + +build: ${EXE} + +install: build + cp ${EXE} runCamera ${DESTDIR} + +clean: + rm ${EXE} *.o + +${EXE}: main.o + ${CXX} -o $@ $< -L/usr/local/frc/lib -lcameraserver -lcscore -lntcore -lwpiutil + +.cpp.o: + ${CXX} -O -c -o $@ -I/usr/local/frc/include $< diff --git a/deps/examples/cpp-multiCameraServer/README.txt b/deps/examples/cpp-multiCameraServer/README.txt new file mode 100644 index 0000000..5d72e19 --- /dev/null +++ b/deps/examples/cpp-multiCameraServer/README.txt @@ -0,0 +1,33 @@ +======================= +Building locally on rPi +======================= + +1) Run "make" +2) Run "make install" (replaces /home/pi/runCamera) +3) Run "./runInteractive" in /home/pi or "sudo svc -t /service/camera" to + restart service. + + +=================== +Building on desktop +=================== + +One time setup +-------------- + +Install the Raspbian compiler [1] as well as GNU make. + +[1]: https://github.com/wpilibsuite/raspbian-toolchain/releases + +The lib and include directories from the Pi /usr/local/frc/ directory must +be copied to the desktop machine. Edit the Makefile to change +/usr/local/frc/lib and /usr/local/frc/include to the local desktop locations. + +Building +-------- + +1) Run "make CXX=arm-raspbian9-linux-gnueabihf-g++" +2) Copy multiCameraServerExample and runCamera to /home/pi on the Pi +3) On the Pi, run "./runInteractive" in /home/pi or + "sudo svc -t /service/camera" to restart service. + diff --git a/deps/examples/cpp-multiCameraServer/runCamera b/deps/examples/cpp-multiCameraServer/runCamera new file mode 100755 index 0000000..ef17866 --- /dev/null +++ b/deps/examples/cpp-multiCameraServer/runCamera @@ -0,0 +1,4 @@ +#!/bin/sh +echo "Waiting 5 seconds..." +sleep 5 +exec ./multiCameraServerExample diff --git a/deps/examples/java-multiCameraServer/README.txt b/deps/examples/java-multiCameraServer/README.txt new file mode 100644 index 0000000..c452fe8 --- /dev/null +++ b/deps/examples/java-multiCameraServer/README.txt @@ -0,0 +1,29 @@ +======================= +Building locally on rPi +======================= + +1) Run "./gradlew build" +2) Run "./install.sh" (replaces /home/pi/runCamera) +3) Run "./runInteractive" in /home/pi or "sudo svc -t /service/camera" to + restart service. + + +=================== +Building on desktop +=================== + +One time setup +-------------- + +Copy the .jar files from /home/pi/javalibs on the Pi to the source directory. + +Building +-------- + +1) Run "./gradlew build" +2) Copy build/libs/java-multiCameraServer-all.jar and runCamera to /home/pi on + the Pi. Note: the .jar filename may be different; if it is, either rename + when copying to the Pi or edit runCamera to reflect the new jar name. +3) On the Pi, run "./runInteractive" in /home/pi or + "sudo svc -t /service/camera" to restart service. + diff --git a/deps/examples/java-multiCameraServer/build.gradle b/deps/examples/java-multiCameraServer/build.gradle new file mode 100644 index 0000000..bcc9b11 --- /dev/null +++ b/deps/examples/java-multiCameraServer/build.gradle @@ -0,0 +1,30 @@ +plugins { + id 'java' + id 'application' + id 'com.github.johnrengelman.shadow' version '4.0.3' apply false +} + +mainClassName = 'Main' + +apply plugin: 'com.github.johnrengelman.shadow' + +repositories { + mavenCentral() + flatDir { + dirs '/home/pi/javalibs', '.' + } +} + +dependencies { + compile 'com.google.code.gson:gson:2.8.5' + + compile name: 'wpiutil' + compile name: 'ntcore' + compile name: 'cscore' + compile name: 'cameraserver' + compile name: 'opencv-344' +} + +wrapper { + gradleVersion = 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do + ls=`ls -ld "$PRG"` + link=`expr "$ls" : '.*-> \(.*\)$'` + if expr "$link" : '/.*' > /dev/null; then + PRG="$link" + else + PRG=`dirname "$PRG"`"/$link" + fi +done +SAVED="`pwd`" +cd "`dirname \"$PRG\"`/" >/dev/null +APP_HOME="`pwd -P`" +cd "$SAVED" >/dev/null + +APP_NAME="Gradle" +APP_BASE_NAME=`basename "$0"` + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m"' + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD="maximum" + +warn () { + echo "$*" +} + +die () { + echo + echo "$*" + echo + exit 1 +} + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "`uname`" in + CYGWIN* ) + cygwin=true + ;; + Darwin* ) + darwin=true + ;; + MINGW* ) + msys=true + ;; + NONSTOP* ) + nonstop=true + ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD="$JAVA_HOME/jre/sh/java" + else + JAVACMD="$JAVA_HOME/bin/java" + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD="java" + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then + MAX_FD_LIMIT=`ulimit -H -n` + if [ $? -eq 0 ] ; then + if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then + MAX_FD="$MAX_FD_LIMIT" + fi + ulimit -n $MAX_FD + if [ $? -ne 0 ] ; then + warn "Could not set maximum file descriptor limit: $MAX_FD" + fi + else + warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" + fi +fi + +# For Darwin, add options to specify how the application appears in the dock +if $darwin; then + GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" +fi + +# For Cygwin, switch paths to Windows format before running java +if $cygwin ; then + APP_HOME=`cygpath --path --mixed "$APP_HOME"` + CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` + JAVACMD=`cygpath --unix "$JAVACMD"` + + # We build the pattern for arguments to be converted via cygpath + ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` + SEP="" + for dir in $ROOTDIRSRAW ; do + ROOTDIRS="$ROOTDIRS$SEP$dir" + SEP="|" + done + OURCYGPATTERN="(^($ROOTDIRS))" + # Add a user-defined pattern to the cygpath arguments + if [ "$GRADLE_CYGPATTERN" != "" ] ; then + OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" + fi + # Now convert the arguments - kludge to limit ourselves to /bin/sh + i=0 + for arg in "$@" ; do + CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` + CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option + + if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition + eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` + else + eval `echo args$i`="\"$arg\"" + fi + i=$((i+1)) + done + case $i in + (0) set -- ;; + (1) set -- "$args0" ;; + (2) set -- "$args0" "$args1" ;; + (3) set -- "$args0" "$args1" "$args2" ;; + (4) set -- "$args0" "$args1" "$args2" "$args3" ;; + (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; + (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; + (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; + (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; + (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; + esac +fi + +# Escape application args +save () { + for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done + echo " " +} +APP_ARGS=$(save "$@") + +# Collect all arguments for the java command, following the shell quoting and substitution rules +eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS" + +# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong +if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then + cd "$(dirname "$0")" +fi + +exec "$JAVACMD" "$@" diff --git a/deps/examples/java-multiCameraServer/gradlew.bat b/deps/examples/java-multiCameraServer/gradlew.bat new file mode 100644 index 0000000..0f8d593 --- /dev/null +++ b/deps/examples/java-multiCameraServer/gradlew.bat @@ -0,0 +1,84 @@ +@if "%DEBUG%" == "" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%" == "" set DIRNAME=. +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if "%ERRORLEVEL%" == "0" goto init + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto init + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:init +@rem Get command-line arguments, handling Windows variants + +if not "%OS%" == "Windows_NT" goto win9xME_args + +:win9xME_args +@rem Slurp the command line arguments. +set CMD_LINE_ARGS= +set _SKIP=2 + +:win9xME_args_slurp +if "x%~1" == "x" goto execute + +set CMD_LINE_ARGS=%* + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS% + +:end +@rem End local scope for the variables with windows NT shell +if "%ERRORLEVEL%"=="0" goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/deps/examples/java-multiCameraServer/install.sh b/deps/examples/java-multiCameraServer/install.sh new file mode 100755 index 0000000..c0c789f --- /dev/null +++ b/deps/examples/java-multiCameraServer/install.sh @@ -0,0 +1,2 @@ +#!/bin/sh +cp build/libs/java-multiCameraServer-all.jar runCamera /home/pi diff --git a/deps/examples/java-multiCameraServer/runCamera b/deps/examples/java-multiCameraServer/runCamera new file mode 100755 index 0000000..d2d0dd0 --- /dev/null +++ b/deps/examples/java-multiCameraServer/runCamera @@ -0,0 +1,4 @@ +#!/bin/sh +echo "Waiting 5 seconds..." +sleep 5 +exec env LD_LIBRARY_PATH=/usr/local/frc/lib java -jar java-multiCameraServer-all.jar diff --git a/deps/examples/python-multiCameraServer/README.txt b/deps/examples/python-multiCameraServer/README.txt new file mode 100644 index 0000000..734e6c3 --- /dev/null +++ b/deps/examples/python-multiCameraServer/README.txt @@ -0,0 +1,17 @@ +======================= +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. + diff --git a/deps/examples/python-multiCameraServer/multiCameraServer.py b/deps/examples/python-multiCameraServer/multiCameraServer.py new file mode 100755 index 0000000..4fba995 --- /dev/null +++ b/deps/examples/python-multiCameraServer/multiCameraServer.py @@ -0,0 +1,154 @@ +#!/usr/bin/env python3 +#---------------------------------------------------------------------------- +# 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. +#---------------------------------------------------------------------------- + +import json +import time +import sys + +from cscore import CameraServer, VideoSource +from networktables import NetworkTablesInstance + +# JSON format: +# { +# "team": , +# "ntmode": <"client" or "server", "client" if unspecified> +# "cameras": [ +# { +# "name": +# "path": +# "pixel format": <"MJPEG", "YUYV", etc> // optional +# "width":