Add NetworkTable-selectable switched camera support (#117)
Fixes #100. Also expand the newest added camera.pull/311/head
Peter Johnson
GitHub
parent
e84e55cd72
commit
9fe4460068
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@ -52,6 +52,14 @@
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}
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}
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]
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"switched cameras": [
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{
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"name": <virtual camera name>
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"key": <network table key used for selection>
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// if NT value is a string, it's treated as a name
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// if NT value is a double, it's treated as an integer index
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}
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]
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}
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*/
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@ -69,7 +77,14 @@ struct CameraConfig {
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wpi::json streamConfig;
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};
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struct SwitchedCameraConfig {
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std::string name;
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std::string key;
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};
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std::vector<CameraConfig> cameraConfigs;
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std::vector<SwitchedCameraConfig> switchedCameraConfigs;
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std::vector<cs::VideoSource> cameras;
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wpi::raw_ostream& ParseError() {
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return wpi::errs() << "config error in '" << configFile << "': ";
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@ -104,6 +119,30 @@ bool ReadCameraConfig(const wpi::json& config) {
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return true;
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}
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bool ReadSwitchedCameraConfig(const wpi::json& config) {
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SwitchedCameraConfig c;
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// name
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try {
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c.name = config.at("name").get<std::string>();
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} catch (const wpi::json::exception& e) {
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ParseError() << "could not read switched camera name: " << e.what() << '\n';
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return false;
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}
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// key
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try {
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c.key = config.at("key").get<std::string>();
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} catch (const wpi::json::exception& e) {
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ParseError() << "switched camera '" << c.name
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<< "': could not read key: " << e.what() << '\n';
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return false;
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}
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switchedCameraConfigs.emplace_back(std::move(c));
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return true;
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}
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bool ReadConfig() {
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// open config file
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std::error_code ec;
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@ -164,6 +203,18 @@ bool ReadConfig() {
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return false;
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}
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// switched cameras (optional)
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if (j.count("switched cameras") != 0) {
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try {
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for (auto&& camera : j.at("switched cameras")) {
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if (!ReadSwitchedCameraConfig(camera)) return false;
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}
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} catch (const wpi::json::exception& e) {
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ParseError() << "could not read switched cameras: " << e.what() << '\n';
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return false;
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}
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}
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return true;
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}
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@ -183,6 +234,34 @@ cs::UsbCamera StartCamera(const CameraConfig& config) {
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return camera;
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}
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cs::MjpegServer StartSwitchedCamera(const SwitchedCameraConfig& config) {
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wpi::outs() << "Starting switched camera '" << config.name << "' on "
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<< config.key << '\n';
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auto server =
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frc::CameraServer::GetInstance()->AddSwitchedCamera(config.name);
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nt::NetworkTableInstance::GetDefault()
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.GetEntry(config.key)
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.AddListener(
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[server](const auto& event) mutable {
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if (event.value->IsDouble()) {
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int i = event.value->GetDouble();
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if (i >= 0 && i < cameras.size()) server.SetSource(cameras[i]);
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} else if (event.value->IsString()) {
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auto str = event.value->GetString();
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for (int i = 0; i < cameraConfigs.size(); ++i) {
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if (str == cameraConfigs[i].name) {
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server.SetSource(cameras[i]);
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break;
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}
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}
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}
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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return server;
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}
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// example pipeline
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class MyPipeline : public frc::VisionPipeline {
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public:
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@ -211,9 +290,11 @@ int main(int argc, char* argv[]) {
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}
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// start cameras
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std::vector<cs::VideoSource> cameras;
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for (auto&& cameraConfig : cameraConfigs)
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cameras.emplace_back(StartCamera(cameraConfig));
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for (const auto& config : cameraConfigs)
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cameras.emplace_back(StartCamera(config));
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// start switched cameras
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for (const auto& config : switchedCameraConfigs) StartSwitchedCamera(config);
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// start image processing on camera 0 if present
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if (cameras.size() >= 1) {
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@ -22,6 +22,7 @@ import edu.wpi.cscore.MjpegServer;
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import edu.wpi.cscore.UsbCamera;
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import edu.wpi.cscore.VideoSource;
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import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.networktables.EntryListenerFlags;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import edu.wpi.first.vision.VisionPipeline;
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import edu.wpi.first.vision.VisionThread;
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@ -60,6 +61,14 @@ import org.opencv.core.Mat;
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}
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}
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]
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"switched cameras": [
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{
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"name": <virtual camera name>
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"key": <network table key used for selection>
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// if NT value is a string, it's treated as a name
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// if NT value is a double, it's treated as an integer index
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}
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]
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}
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*/
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@ -74,9 +83,17 @@ public final class Main {
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public JsonElement streamConfig;
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}
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@SuppressWarnings("MemberName")
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public static class SwitchedCameraConfig {
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public String name;
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public String key;
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};
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public static int team;
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public static boolean server;
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public static List<CameraConfig> cameraConfigs = new ArrayList<>();
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public static List<SwitchedCameraConfig> switchedCameraConfigs = new ArrayList<>();
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public static List<VideoSource> cameras = new ArrayList<>();
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private Main() {
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}
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@ -119,6 +136,32 @@ public final class Main {
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return true;
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}
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/**
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* Read single switched camera configuration.
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*/
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public static boolean readSwitchedCameraConfig(JsonObject config) {
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SwitchedCameraConfig cam = new SwitchedCameraConfig();
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// name
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JsonElement nameElement = config.get("name");
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if (nameElement == null) {
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parseError("could not read switched camera name");
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return false;
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}
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cam.name = nameElement.getAsString();
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// path
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JsonElement keyElement = config.get("key");
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if (keyElement == null) {
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parseError("switched camera '" + cam.name + "': could not read key");
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return false;
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}
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cam.key = keyElement.getAsString();
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switchedCameraConfigs.add(cam);
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return true;
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}
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/**
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* Read configuration file.
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*/
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@ -173,6 +216,15 @@ public final class Main {
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}
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}
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if (obj.has("switched cameras")) {
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JsonArray switchedCameras = obj.get("switched cameras").getAsJsonArray();
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for (JsonElement camera : switchedCameras) {
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if (!readSwitchedCameraConfig(camera.getAsJsonObject())) {
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return false;
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}
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}
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}
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return true;
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}
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@ -197,6 +249,36 @@ public final class Main {
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return camera;
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}
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/**
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* Start running the switched camera.
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*/
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public static MjpegServer startSwitchedCamera(SwitchedCameraConfig config) {
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System.out.println("Starting switched camera '" + config.name + "' on " + config.key);
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MjpegServer server = CameraServer.getInstance().addSwitchedCamera(config.name);
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NetworkTableInstance.getDefault()
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.getEntry(config.key)
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.addListener(event -> {
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if (event.value.isDouble()) {
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int i = (int) event.value.getDouble();
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if (i >= 0 && i < cameras.size()) {
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server.setSource(cameras.get(i));
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}
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} else if (event.value.isString()) {
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String str = event.value.getString();
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for (int i = 0; i < cameraConfigs.size(); i++) {
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if (str.equals(cameraConfigs.get(i).name)) {
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server.setSource(cameras.get(i));
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break;
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}
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}
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}
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},
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EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
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return server;
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}
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/**
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* Example pipeline.
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*/
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@ -233,9 +315,13 @@ public final class Main {
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}
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// start cameras
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List<VideoSource> cameras = new ArrayList<>();
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for (CameraConfig cameraConfig : cameraConfigs) {
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cameras.add(startCamera(cameraConfig));
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for (CameraConfig config : cameraConfigs) {
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cameras.add(startCamera(config));
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}
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// start switched cameras
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for (SwitchedCameraConfig config : switchedCameraConfigs) {
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startSwitchedCamera(config);
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}
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// start image processing on camera 0 if present
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@ -12,6 +12,7 @@ import sys
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from cscore import CameraServer, VideoSource, UsbCamera, MjpegServer
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from networktables import NetworkTablesInstance
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import ntcore
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# JSON format:
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# {
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@ -44,6 +45,14 @@ from networktables import NetworkTablesInstance
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# }
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# }
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# ]
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# "switched cameras": [
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# {
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# "name": <virtual camera name>
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# "key": <network table key used for selection>
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# // if NT value is a string, it's treated as a name
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# // if NT value is a double, it's treated as an integer index
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# }
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# ]
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# }
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configFile = "/boot/frc.json"
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@ -53,6 +62,8 @@ class CameraConfig: pass
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team = None
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server = False
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cameraConfigs = []
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switchedCameraConfigs = []
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cameras = []
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def parseError(str):
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"""Report parse error."""
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@ -84,6 +95,27 @@ def readCameraConfig(config):
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cameraConfigs.append(cam)
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return True
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def readSwitchedCameraConfig(config):
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"""Read single switched camera configuration."""
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cam = CameraConfig()
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# name
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try:
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cam.name = config["name"]
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except KeyError:
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parseError("could not read switched camera name")
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return False
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# path
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try:
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cam.key = config["key"]
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except KeyError:
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parseError("switched camera '{}': could not read key".format(cam.name))
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return False
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switchedCameraConfigs.append(cam)
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return True
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def readConfig():
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"""Read configuration file."""
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global team
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@ -129,6 +161,12 @@ def readConfig():
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if not readCameraConfig(camera):
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return False
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# switched cameras
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if "switched cameras" in j:
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for camera in j["switched cameras"]:
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if not readSwitchedCameraConfig(camera):
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return False
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return True
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def startCamera(config):
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@ -146,6 +184,30 @@ def startCamera(config):
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return camera
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def startSwitchedCamera(config):
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"""Start running the switched camera."""
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print("Starting switched camera '{}' on {}".format(config.name, config.key))
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server = CameraServer.getInstance().addSwitchedCamera(config.name)
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def listener(fromobj, key, value, isNew):
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if isinstance(value, float):
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i = int(value)
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if i >= 0 and i < len(cameras):
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server.setSource(cameras[i])
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elif isinstance(value, str):
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for i in range(len(cameraConfigs)):
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if value == cameraConfigs[i].name:
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server.setSource(cameras[i])
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break
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NetworkTablesInstance.getDefault().getEntry(config.key).addListener(
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listener,
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ntcore.constants.NT_NOTIFY_IMMEDIATE |
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ntcore.constants.NT_NOTIFY_NEW |
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ntcore.constants.NT_NOTIFY_UPDATE)
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return server
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if __name__ == "__main__":
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if len(sys.argv) >= 2:
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configFile = sys.argv[1]
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@ -164,9 +226,12 @@ if __name__ == "__main__":
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ntinst.startClientTeam(team)
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# start cameras
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cameras = []
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for cameraConfig in cameraConfigs:
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cameras.append(startCamera(cameraConfig))
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for config in cameraConfigs:
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cameras.append(startCamera(config))
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# start switched cameras
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for config in switchedCameraConfigs:
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startSwitchedCamera(config)
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# loop forever
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while True:
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@ -49,7 +49,7 @@ function dismissStatus() {
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// Enable and disable buttons based on connection status
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var connectedButtonIds = ['systemRestart', 'networkApproach', 'networkAddress', 'networkMask', 'networkGateway', 'networkDNS', 'visionUp', 'visionDown', 'visionTerm', 'visionKill', 'systemReadOnly', 'systemWritable', 'visionClient', 'visionTeam', 'visionDiscard', 'addConnectedCamera', 'addCamera', 'applicationType'];
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var connectedButtonClasses = ['cameraName', 'cameraPath', 'cameraAlternatePaths', 'cameraPixelFormat', 'cameraWidth', 'cameraHeight', 'cameraFps', 'cameraBrightness', 'cameraWhiteBalance', 'cameraExposure', 'cameraProperties', 'streamWidth', 'streamHeight', 'streamFps', 'streamCompression', 'streamDefaultCompression', 'cameraRemove', 'cameraCopyConfig']
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var connectedButtonClasses = ['cameraName', 'cameraPath', 'cameraAlternatePaths', 'cameraPixelFormat', 'cameraWidth', 'cameraHeight', 'cameraFps', 'cameraBrightness', 'cameraWhiteBalance', 'cameraExposure', 'cameraProperties', 'streamWidth', 'streamHeight', 'streamFps', 'streamCompression', 'streamDefaultCompression', 'cameraRemove', 'cameraCopyConfig', 'cameraKey']
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var writableButtonIds = ['networkSave', 'visionSave', 'applicationSave'];
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var systemStatusIds = ['systemMemoryFree1s', 'systemMemoryFree5s',
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'systemMemoryAvail1s', 'systemMemoryAvail5s',
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@ -121,8 +121,8 @@ $('#systemWritable').click(function() {
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});
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// Vision settings
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var visionSettingsServer = {};
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var visionSettingsDisplay = {'cameras': []};
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var visionSettingsServer = {'cameras': [], 'switched cameras': []};
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var visionSettingsDisplay = {'cameras': [], 'switched cameras': []};
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var cameraList = [];
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function pushVisionLogEnabled() {
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@ -194,7 +194,7 @@ function connect() {
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break;
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case 'visionSettings':
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visionSettingsServer = msg.settings;
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visionSettingsDisplay = $.extend(true, {}, visionSettingsServer);
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visionSettingsDisplay = $.extend(true, {'cameras': [], 'switched cameras': []}, visionSettingsServer);
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updateVisionSettingsView();
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break;
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case 'applicationSettings':
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@ -507,6 +507,45 @@ function appendNewVisionCameraView(value, i) {
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$('#cameras').append(camera);
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}
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function updateVisionSwitchedCameraView(camera, value) {
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if ('name' in value) {
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camera.find('.cameraTitle').text('Switched Camera ' + value.name);
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camera.find('.cameraName').val(value.name);
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}
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if ('key' in value) {
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camera.find('.cameraKey').val(value.key);
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}
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}
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function appendNewVisionSwitchedCameraView(value, i) {
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var camera = $('#switchedCameraNEW').clone();
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camera.attr('id', 'switchedCamera' + i);
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camera.addClass('cameraSetting');
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camera.removeAttr('style');
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updateVisionSwitchedCameraView(camera, value);
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camera.find('.cameraStream').attr('href', 'http://' + window.location.hostname + ':' + (1181 + visionSettingsDisplay.cameras.length + i) + '/');
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camera.find('.cameraRemove').click(function() {
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visionSettingsDisplay['switched cameras'].splice(i, 1);
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camera.remove();
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});
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camera.find('[id]').each(function() {
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$(this).attr('id', $(this).attr('id').replace('NEW', i));
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});
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camera.find('[for]').each(function() {
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$(this).attr('for', $(this).attr('for').replace('NEW', i));
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});
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camera.find('[data-target]').each(function() {
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$(this).attr('data-target', $(this).attr('data-target').replace('NEW', i));
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});
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camera.find('[aria-labelledby]').each(function() {
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$(this).attr('aria-labelledby', $(this).attr('aria-labelledby').replace('NEW', i));
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});
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$('#switchedCameras').append(camera);
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}
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function updateVisionSettingsView() {
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var isClient = !visionSettingsDisplay.ntmode || visionSettingsDisplay.ntmode === 'client';
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$('#visionClient').prop('checked', isClient);
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@ -521,6 +560,9 @@ function updateVisionSettingsView() {
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visionSettingsDisplay.cameras.forEach(function (value, i) {
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appendNewVisionCameraView(value, i);
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});
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visionSettingsDisplay['switched cameras'].forEach(function (value, i) {
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appendNewVisionSwitchedCameraView(value, i);
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});
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updateCameraListView();
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feather.replace();
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}
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@ -610,6 +652,11 @@ $('#visionSave').click(function() {
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value.stream.properties.push({'name': 'default_compression', 'value': streamDefaultCompression});
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}
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});
|
||||
visionSettingsDisplay['switched cameras'].forEach(function (value, i) {
|
||||
var camera = $('#switchedCamera' + i);
|
||||
value.name = camera.find('.cameraName').val();
|
||||
value.key = camera.find('.cameraKey').val();
|
||||
});
|
||||
var msg = {
|
||||
type: 'visionSave',
|
||||
settings: visionSettingsDisplay
|
||||
|
|
@ -622,11 +669,19 @@ $('#visionDiscard').click(function() {
|
|||
updateVisionSettingsView();
|
||||
});
|
||||
|
||||
$('#addCamera').click(function() {
|
||||
$('#addUsbCamera').click(function() {
|
||||
var i = visionSettingsDisplay.cameras.length;
|
||||
visionSettingsDisplay.cameras.push({});
|
||||
appendNewVisionCameraView({}, i);
|
||||
updateCameraListView();
|
||||
$('#cameraBody' + i).collapse('show');
|
||||
});
|
||||
|
||||
$('#addSwitchedCamera').click(function() {
|
||||
var i = visionSettingsDisplay['switched cameras'].length;
|
||||
visionSettingsDisplay['switched cameras'].push({});
|
||||
appendNewVisionSwitchedCameraView({}, i);
|
||||
$('#switchedCameraBody' + i).collapse('show');
|
||||
});
|
||||
|
||||
function updateCameraListView() {
|
||||
|
|
@ -694,6 +749,7 @@ function updateCameraListView() {
|
|||
visionSettingsDisplay.cameras.push(camera);
|
||||
appendNewVisionCameraView(camera, i);
|
||||
updateCameraListView();
|
||||
$('#cameraBody' + i).collapse('show');
|
||||
});
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -214,7 +214,7 @@
|
|||
<div class="tab-pane" id="vision-settings" role="tabpanel" aria-labelledby="vision-settings-tab">
|
||||
<div class="card">
|
||||
<div class="card-header">
|
||||
<h6>Network Tables</h6>
|
||||
<h5>Network Tables</h5>
|
||||
</div>
|
||||
<div class="card-body">
|
||||
<form>
|
||||
|
|
@ -236,143 +236,196 @@
|
|||
</form>
|
||||
</div>
|
||||
</div>
|
||||
<div class="accordion" id="cameras">
|
||||
<div class="card" style="display:none" id="cameraNEW">
|
||||
<div class="card-header">
|
||||
<div class="row align-items-center">
|
||||
<div class="col-auto mr-auto">
|
||||
<button class="btn btn-link" type="button" data-toggle="collapse" data-target="#cameraBodyNEW">
|
||||
<h6 class="cameraTitle">Camera NEW</h6>
|
||||
</button>
|
||||
<span class="badge badge-secondary align-text-top cameraConnectionBadge">Disconnected</span>
|
||||
</div>
|
||||
<div class="col-auto">
|
||||
<a class="btn btn-sm btn-success cameraStream" href="" target="_blank" role="button">
|
||||
<span data-feather="play"></span>
|
||||
Open Stream
|
||||
</a>
|
||||
<button type="button" class="btn btn-sm btn-danger cameraRemove">
|
||||
<span data-feather="x"></span>
|
||||
Remove
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="collapse" id="cameraBodyNEW" data-parent="#cameras">
|
||||
<div class="card-body">
|
||||
<form>
|
||||
<div class="form-row">
|
||||
<div class="form-group col col-4">
|
||||
<label for="cameraNameNEW">Name</label>
|
||||
<input type="text" class="form-control cameraName" id="cameraNameNEW">
|
||||
<div class="card">
|
||||
<div class="card-header">
|
||||
<h5>USB Cameras</h5>
|
||||
</div>
|
||||
<div class="card-body">
|
||||
<div class="accordion" id="cameras">
|
||||
<div class="card" style="display:none" id="cameraNEW">
|
||||
<div class="card-header">
|
||||
<div class="row align-items-center">
|
||||
<div class="col-auto mr-auto">
|
||||
<button class="btn btn-link" type="button" data-toggle="collapse" data-target="#cameraBodyNEW">
|
||||
<h6 class="cameraTitle">Camera NEW</h6>
|
||||
</button>
|
||||
<span class="badge badge-secondary align-text-top cameraConnectionBadge">Disconnected</span>
|
||||
</div>
|
||||
<div class="form-group col">
|
||||
<label for="cameraPathNEW">Path</label>
|
||||
<div class="input-group">
|
||||
<input type="text" class="form-control cameraPath" id="cameraPathNEW">
|
||||
<div class="input-group-append">
|
||||
<button type="button" class="btn dropdown-toggle cameraAlternatePaths" id="cameraAlternatePathsNEW" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false" disabled="true">
|
||||
Alternate Path
|
||||
</button>
|
||||
<div class="dropdown-menu cameraAlternatePathsList" aria-labelledby="cameraAlternatePathsNEW">
|
||||
<div class="col-auto">
|
||||
<a class="btn btn-sm btn-success cameraStream" href="" target="_blank" role="button">
|
||||
<span data-feather="play"></span>
|
||||
Open Stream
|
||||
</a>
|
||||
<button type="button" class="btn btn-sm btn-danger cameraRemove">
|
||||
<span data-feather="x"></span>
|
||||
Remove
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="collapse" id="cameraBodyNEW" data-parent="#cameras">
|
||||
<div class="card-body">
|
||||
<form>
|
||||
<div class="form-row">
|
||||
<div class="form-group col col-4">
|
||||
<label for="cameraNameNEW">Name</label>
|
||||
<input type="text" class="form-control cameraName" id="cameraNameNEW">
|
||||
</div>
|
||||
<div class="form-group col">
|
||||
<label for="cameraPathNEW">Path</label>
|
||||
<div class="input-group">
|
||||
<input type="text" class="form-control cameraPath" id="cameraPathNEW">
|
||||
<div class="input-group-append">
|
||||
<button type="button" class="btn dropdown-toggle cameraAlternatePaths" id="cameraAlternatePathsNEW" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false" disabled="true">
|
||||
Alternate Path
|
||||
</button>
|
||||
<div class="dropdown-menu cameraAlternatePathsList" aria-labelledby="cameraAlternatePathsNEW">
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="card">
|
||||
<div class="card-header">
|
||||
Camera Settings
|
||||
</div>
|
||||
<div class="card-body">
|
||||
<div class="form-group">
|
||||
<div class="custom-file">
|
||||
<input type="file" class="custom-file-input cameraSettingsFile" accept=".json,text/json,application/json" id="cameraSettingsFileNEW">
|
||||
<label class="custom-file-label" for="cameraSettingsFileNEW">Load Source Config From JSON File</label>
|
||||
</div>
|
||||
</div>
|
||||
<div class="form-group">
|
||||
<button class="btn btn-sm cameraCopyConfig" type="button">
|
||||
<span data-feather="copy"></span>
|
||||
Copy Source Config From Camera
|
||||
</button>
|
||||
</div>
|
||||
<div class="form-row">
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraPixelFormatNEW">Pixel Format</label>
|
||||
<select class="form-control cameraPixelFormat" id="cameraPixelFormatNEW">
|
||||
<option value="mjpeg">MJPEG</option>
|
||||
<option value="yuyv">YUYV</option>
|
||||
<option value="rgb565">RGB565</option>
|
||||
<option value="bgr">BGR</option>
|
||||
<option value="gray">Gray</option>
|
||||
</select>
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraWidthNEW">Width</label>
|
||||
<input type="number" class="form-control cameraWidth" id="cameraWidthNEW" size="5">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraHeightNEW">Height</label>
|
||||
<input type="number" class="form-control cameraHeight" id="cameraHeightNEW" size="5">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraFpsNEW">FPS</label>
|
||||
<input type="number" class="form-control cameraFps" id="cameraFpsNEW" size="4">
|
||||
</div>
|
||||
</div>
|
||||
<div class="form-row">
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraBrightnessNEW">Brightness</label>
|
||||
<input type="text" class="form-control cameraBrightness" id="cameraBrightnessNEW" size="4">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraWhiteBalanceNEW">White Balance</label>
|
||||
<input type="text" class="form-control cameraWhiteBalance" id="cameraWhiteBalanceNEW" size="4">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraExposureNEW">Exposure</label>
|
||||
<input type="text" class="form-control cameraExposure" id="cameraExposureNEW" size="4">
|
||||
</div>
|
||||
</div>
|
||||
<div class="form-group">
|
||||
<label for="cameraPropertiesNEW">Custom Properties JSON</label>
|
||||
<textarea class="form-control cameraProperties" id="cameraPropertiesNEW" rows="3"></textarea>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="card">
|
||||
<div class="card-header">
|
||||
Video Stream Defaults
|
||||
</div>
|
||||
<div class="card-body">
|
||||
<div class="form-row">
|
||||
<div class="form-group col-auto">
|
||||
<label for="streamWidthNEW">Width</label>
|
||||
<input type="number" class="form-control streamWidth" id="streamWidthNEW" size="5">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="streamHeightNEW">Height</label>
|
||||
<input type="number" class="form-control streamHeight" id="streamHeightNEW" size="5">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="streamFpsNEW">FPS</label>
|
||||
<input type="number" class="form-control streamFps" id="streamFpsNEW" size="4">
|
||||
</div>
|
||||
</div>
|
||||
<div class="form-row">
|
||||
<div class="form-group col-auto">
|
||||
<label for="streamCompressionNEW">Compression</label>
|
||||
<input type="number" class="form-control streamCompression" id="streamWidthNEW" size="5">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="streamDefaultCompressionNEW">Default Compression</label>
|
||||
<input type="number" class="form-control streamDefaultCompression" id="streamDefaultCompressionNEW" size="4">
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</form>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="card">
|
||||
<div class="card-header">
|
||||
<h5>Switched Cameras</h5>
|
||||
</div>
|
||||
<div class="card-body">
|
||||
<div class="accordion" id="switchedCameras">
|
||||
<div class="card" style="display:none" id="switchedCameraNEW">
|
||||
<div class="card-header">
|
||||
<div class="row align-items-center">
|
||||
<div class="col-auto mr-auto">
|
||||
<button class="btn btn-link" type="button" data-toggle="collapse" data-target="#switchedCameraBodyNEW">
|
||||
<h6 class="cameraTitle">Switched Camera NEW</h6>
|
||||
</button>
|
||||
</div>
|
||||
<div class="col-auto">
|
||||
<a class="btn btn-sm btn-success cameraStream" href="" target="_blank" role="button">
|
||||
<span data-feather="play"></span>
|
||||
Open Stream
|
||||
</a>
|
||||
<button type="button" class="btn btn-sm btn-danger cameraRemove">
|
||||
<span data-feather="x"></span>
|
||||
Remove
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="card">
|
||||
<div class="card-header">
|
||||
Camera Settings
|
||||
</div>
|
||||
<div class="card-body">
|
||||
<div class="form-group">
|
||||
<div class="custom-file">
|
||||
<input type="file" class="custom-file-input cameraSettingsFile" accept=".json,text/json,application/json" id="cameraSettingsFileNEW">
|
||||
<label class="custom-file-label" for="cameraSettingsFileNEW">Load Source Config From JSON File</label>
|
||||
</div>
|
||||
</div>
|
||||
<div class="form-group">
|
||||
<button class="btn btn-sm cameraCopyConfig" type="button">
|
||||
<span data-feather="copy"></span>
|
||||
Copy Source Config From Camera
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="collapse" id="switchedCameraBodyNEW" data-parent="#switchedCameras">
|
||||
<div class="card-body">
|
||||
<form>
|
||||
<div class="form-row">
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraPixelFormatNEW">Pixel Format</label>
|
||||
<select class="form-control cameraPixelFormat" id="cameraPixelFormatNEW">
|
||||
<option value="mjpeg">MJPEG</option>
|
||||
<option value="yuyv">YUYV</option>
|
||||
<option value="rgb565">RGB565</option>
|
||||
<option value="bgr">BGR</option>
|
||||
<option value="gray">Gray</option>
|
||||
</select>
|
||||
<div class="form-group col col-4">
|
||||
<label for="switchedCameraNameNEW">Name</label>
|
||||
<input type="text" class="form-control cameraName" id="switchedCameraNameNEW">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraWidthNEW">Width</label>
|
||||
<input type="number" class="form-control cameraWidth" id="cameraWidthNEW" size="5">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraHeightNEW">Height</label>
|
||||
<input type="number" class="form-control cameraHeight" id="cameraHeightNEW" size="5">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraFpsNEW">FPS</label>
|
||||
<input type="number" class="form-control cameraFps" id="cameraFpsNEW" size="4">
|
||||
<div class="form-group col">
|
||||
<label for="switchedCameraKeyNEW">NetworkTable Key</label>
|
||||
<input type="text" class="form-control cameraKey" id="switchedCameraKeyNEW">
|
||||
</div>
|
||||
</div>
|
||||
<div class="form-row">
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraBrightnessNEW">Brightness</label>
|
||||
<input type="text" class="form-control cameraBrightness" id="cameraBrightnessNEW" size="4">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraWhiteBalanceNEW">White Balance</label>
|
||||
<input type="text" class="form-control cameraWhiteBalance" id="cameraWhiteBalanceNEW" size="4">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="cameraExposureNEW">Exposure</label>
|
||||
<input type="text" class="form-control cameraExposure" id="cameraExposureNEW" size="4">
|
||||
</div>
|
||||
</div>
|
||||
<div class="form-group">
|
||||
<label for="cameraPropertiesNEW">Custom Properties JSON</label>
|
||||
<textarea class="form-control cameraProperties" id="cameraPropertiesNEW" rows="3"></textarea>
|
||||
</div>
|
||||
</div>
|
||||
</form>
|
||||
</div>
|
||||
<div class="card">
|
||||
<div class="card-header">
|
||||
Video Stream Defaults
|
||||
</div>
|
||||
<div class="card-body">
|
||||
<div class="form-row">
|
||||
<div class="form-group col-auto">
|
||||
<label for="streamWidthNEW">Width</label>
|
||||
<input type="number" class="form-control streamWidth" id="streamWidthNEW" size="5">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="streamHeightNEW">Height</label>
|
||||
<input type="number" class="form-control streamHeight" id="streamHeightNEW" size="5">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="streamFpsNEW">FPS</label>
|
||||
<input type="number" class="form-control streamFps" id="streamFpsNEW" size="4">
|
||||
</div>
|
||||
</div>
|
||||
<div class="form-row">
|
||||
<div class="form-group col-auto">
|
||||
<label for="streamCompressionNEW">Compression</label>
|
||||
<input type="number" class="form-control streamCompression" id="streamWidthNEW" size="5">
|
||||
</div>
|
||||
<div class="form-group col-auto">
|
||||
<label for="streamDefaultCompressionNEW">Default Compression</label>
|
||||
<input type="number" class="form-control streamDefaultCompression" id="streamDefaultCompressionNEW" size="4">
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</form>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
|
@ -400,10 +453,20 @@
|
|||
</div>
|
||||
</div>
|
||||
<div class="col-auto">
|
||||
<button type="button" class="btn btn-success" id="addCamera">
|
||||
<span data-feather="plus"></span>
|
||||
Add Other Camera
|
||||
</button>
|
||||
<div class="dropdown">
|
||||
<button type="button" class="btn btn-success dropdown-toggle" id="addCamera" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
|
||||
<span data-feather="plus"></span>
|
||||
Add Other Camera
|
||||
</button>
|
||||
<div class="dropdown-menu" aria-labelledby="addCamera" id="addCameraList">
|
||||
<button type="button" class="dropdown-item" id="addUsbCamera">
|
||||
USB Camera
|
||||
</button>
|
||||
<button type="button" class="dropdown-item" id="addSwitchedCamera">
|
||||
Switched Camera
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
|
|
|||
|
|
@ -49,6 +49,14 @@
|
|||
}
|
||||
}
|
||||
]
|
||||
"switched cameras": [
|
||||
{
|
||||
"name": <virtual camera name>
|
||||
"key": <network table key used for selection>
|
||||
// if NT value is a string, it's treated as a name
|
||||
// if NT value is a double, it's treated as an integer index
|
||||
}
|
||||
]
|
||||
}
|
||||
*/
|
||||
|
||||
|
|
@ -70,7 +78,14 @@ struct CameraConfig {
|
|||
wpi::json streamConfig;
|
||||
};
|
||||
|
||||
std::vector<CameraConfig> cameras;
|
||||
struct SwitchedCameraConfig {
|
||||
std::string name;
|
||||
std::string key;
|
||||
};
|
||||
|
||||
std::vector<CameraConfig> cameraConfigs;
|
||||
std::vector<SwitchedCameraConfig> switchedCameraConfigs;
|
||||
std::vector<cs::VideoSource> cameras;
|
||||
|
||||
wpi::raw_ostream& ParseError() {
|
||||
return wpi::errs() << "config error in '" << configFile << "': ";
|
||||
|
|
@ -101,7 +116,31 @@ bool ReadCameraConfig(const wpi::json& config) {
|
|||
|
||||
c.config = config;
|
||||
|
||||
cameras.emplace_back(std::move(c));
|
||||
cameraConfigs.emplace_back(std::move(c));
|
||||
return true;
|
||||
}
|
||||
|
||||
bool ReadSwitchedCameraConfig(const wpi::json& config) {
|
||||
SwitchedCameraConfig c;
|
||||
|
||||
// name
|
||||
try {
|
||||
c.name = config.at("name").get<std::string>();
|
||||
} catch (const wpi::json::exception& e) {
|
||||
ParseError() << "could not read switched camera name: " << e.what() << '\n';
|
||||
return false;
|
||||
}
|
||||
|
||||
// key
|
||||
try {
|
||||
c.key = config.at("key").get<std::string>();
|
||||
} catch (const wpi::json::exception& e) {
|
||||
ParseError() << "switched camera '" << c.name
|
||||
<< "': could not read key: " << e.what() << '\n';
|
||||
return false;
|
||||
}
|
||||
|
||||
switchedCameraConfigs.emplace_back(std::move(c));
|
||||
return true;
|
||||
}
|
||||
|
||||
|
|
@ -165,10 +204,22 @@ bool ReadConfig() {
|
|||
return false;
|
||||
}
|
||||
|
||||
// switched cameras (optional)
|
||||
if (j.count("switched cameras") != 0) {
|
||||
try {
|
||||
for (auto&& camera : j.at("switched cameras")) {
|
||||
if (!ReadSwitchedCameraConfig(camera)) return false;
|
||||
}
|
||||
} catch (const wpi::json::exception& e) {
|
||||
ParseError() << "could not read switched cameras: " << e.what() << '\n';
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void StartCamera(const CameraConfig& config) {
|
||||
cs::UsbCamera StartCamera(const CameraConfig& config) {
|
||||
wpi::outs() << "Starting camera '" << config.name << "' on " << config.path
|
||||
<< '\n';
|
||||
auto inst = frc::CameraServer::GetInstance();
|
||||
|
|
@ -180,6 +231,36 @@ void StartCamera(const CameraConfig& config) {
|
|||
|
||||
if (config.streamConfig.is_object())
|
||||
server.SetConfigJson(config.streamConfig);
|
||||
|
||||
return camera;
|
||||
}
|
||||
|
||||
cs::MjpegServer StartSwitchedCamera(const SwitchedCameraConfig& config) {
|
||||
wpi::outs() << "Starting switched camera '" << config.name << "' on "
|
||||
<< config.key << '\n';
|
||||
auto server =
|
||||
frc::CameraServer::GetInstance()->AddSwitchedCamera(config.name);
|
||||
|
||||
nt::NetworkTableInstance::GetDefault()
|
||||
.GetEntry(config.key)
|
||||
.AddListener(
|
||||
[server](const auto& event) mutable {
|
||||
if (event.value->IsDouble()) {
|
||||
int i = event.value->GetDouble();
|
||||
if (i >= 0 && i < cameras.size()) server.SetSource(cameras[i]);
|
||||
} else if (event.value->IsString()) {
|
||||
auto str = event.value->GetString();
|
||||
for (int i = 0; i < cameraConfigs.size(); ++i) {
|
||||
if (str == cameraConfigs[i].name) {
|
||||
server.SetSource(cameras[i]);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
|
||||
|
||||
return server;
|
||||
}
|
||||
} // namespace
|
||||
|
||||
|
|
@ -200,7 +281,11 @@ int main(int argc, char* argv[]) {
|
|||
}
|
||||
|
||||
// start cameras
|
||||
for (auto&& camera : cameras) StartCamera(camera);
|
||||
for (const auto& config : cameraConfigs)
|
||||
cameras.emplace_back(StartCamera(config));
|
||||
|
||||
// start switched cameras
|
||||
for (const auto& config : switchedCameraConfigs) StartSwitchedCamera(config);
|
||||
|
||||
// loop forever
|
||||
for (;;) std::this_thread::sleep_for(std::chrono::seconds(10));
|
||||
|
|
|
|||
Loading…
Reference in New Issue