Add java, cpp, and python examples

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}/

deps/allwpilib

@@ -1 +1 @@
-Subproject commit 26e8e587f9264b7d22b65a6b2934e04c25871349
+Subproject commit bfe15245a625d8e30351fc1096d2df1ca71210c3

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 $<

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.
+

deps/examples/cpp-multiCameraServer/runCamera

@@ -0,0 +1,4 @@
+#!/bin/sh
+echo "Waiting 5 seconds..."
+sleep 5
+exec ./multiCameraServerExample

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.
+

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 = '5.0'
+}

deps/examples/java-multiCameraServer/gradle/wrapper/gradle-wrapper.properties

@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists

deps/examples/java-multiCameraServer/gradlew

@@ -0,0 +1,172 @@
+#!/usr/bin/env sh
+
+##############################################################################
+##
+##  Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; 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" "$@"

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

deps/examples/java-multiCameraServer/install.sh

@@ -0,0 +1,2 @@
+#!/bin/sh
+cp build/libs/java-multiCameraServer-all.jar runCamera /home/pi

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

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.
+

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": <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)

deps/examples/python-multiCameraServer/runCamera

@@ -0,0 +1,4 @@
+#!/bin/sh
+echo "Waiting 5 seconds..."
+sleep 5
+exec ./multiCameraServer.py

stage2/01-sys-tweaks/01-run.sh

@@ -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/"