Revamp image to build dependencies as part of stages (#83)
Fixes #17. Stage 2 is fairly minimal, stage 3 builds/installs OpenCV and WPILib et al, and stage 4 builds/installs the FRCVision webdash and adds the vision examples. Other changes: - OpenCV compiled with ffmpeg, OpenBLAS, and libgtk (fixes #79, fixes #80) - OpenBLAS added to image (fixes #65) - C++ Makefile is more easily extensible (fixes #71) - Sources for everything are bundled into image into /usr/src - README updated (fixes #16) - pkg-config files for wpilibc et al are now installed and C++ Makefile uses them (if compiled local to Pi) - Both dynamic and static libs are included in image The only downside of all these changes (particularly the ffmpeg, OpenBLAS, and libgtk inclusion) is the image size is now over 3GB (800MB compressed). The previous image didn't quite fit on a 2GB card however.
This commit is contained in:
Peter Johnson
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@@ -0,0 +1,12 @@
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DEPS_CFLAGS?=$(shell pkg-config --cflags cameraserver ntcore wpiutil)
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DEPS_LIBS?=$(shell pkg-config --libs --static cameraserver ntcore wpiutil)
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.PHONY: all clean
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all: multiCameraServer
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clean:
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rm -f multiCameraServer
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multiCameraServer: src/multiCameraServer.cpp
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${CXX} -pthread -g -o $@ ${CXXFLAGS} ${DEPS_CFLAGS} $^ ${DEPS_LIBS}
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@@ -0,0 +1,207 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <cstdio>
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#include <string>
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#include <vector>
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#include <networktables/NetworkTableInstance.h>
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#include <wpi/StringRef.h>
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#include <wpi/json.h>
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#include <wpi/raw_istream.h>
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#include <wpi/raw_ostream.h>
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#include "cameraserver/CameraServer.h"
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/*
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JSON format:
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{
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"team": <team number>,
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"ntmode": <"client" or "server", "client" if unspecified>
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"cameras": [
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{
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"name": <camera name>
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"path": <path, e.g. "/dev/video0">
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"pixel format": <"MJPEG", "YUYV", etc> // optional
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"width": <video mode width> // optional
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"height": <video mode height> // optional
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"fps": <video mode fps> // optional
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"brightness": <percentage brightness> // optional
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"white balance": <"auto", "hold", value> // optional
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"exposure": <"auto", "hold", value> // optional
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"properties": [ // optional
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{
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"name": <property name>
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"value": <property value>
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}
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],
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"stream": { // optional
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"properties": [
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{
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"name": <stream property name>
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"value": <stream property value>
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}
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]
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}
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}
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]
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}
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*/
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#ifdef __RASPBIAN__
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static const char* configFile = "/boot/frc.json";
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#else
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static const char* configFile = "frc.json";
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#endif
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namespace {
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unsigned int team;
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bool server = false;
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struct CameraConfig {
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std::string name;
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std::string path;
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wpi::json config;
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wpi::json streamConfig;
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};
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std::vector<CameraConfig> cameras;
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wpi::raw_ostream& ParseError() {
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return wpi::errs() << "config error in '" << configFile << "': ";
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}
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bool ReadCameraConfig(const wpi::json& config) {
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CameraConfig 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 camera name: " << e.what() << '\n';
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return false;
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}
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// path
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try {
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c.path = config.at("path").get<std::string>();
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} catch (const wpi::json::exception& e) {
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ParseError() << "camera '" << c.name
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<< "': could not read path: " << e.what() << '\n';
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return false;
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}
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// stream properties
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if (config.count("stream") != 0) c.streamConfig = config.at("stream");
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c.config = config;
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cameras.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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wpi::raw_fd_istream is(configFile, ec);
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if (ec) {
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wpi::errs() << "could not open '" << configFile << "': " << ec.message()
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<< '\n';
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return false;
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}
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// parse file
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wpi::json j;
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try {
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j = wpi::json::parse(is);
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} catch (const wpi::json::parse_error& e) {
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ParseError() << "byte " << e.byte << ": " << e.what() << '\n';
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return false;
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}
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// top level must be an object
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if (!j.is_object()) {
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ParseError() << "must be JSON object\n";
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return false;
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}
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// team number
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try {
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team = j.at("team").get<unsigned int>();
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} catch (const wpi::json::exception& e) {
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ParseError() << "could not read team number: " << e.what() << '\n';
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return false;
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}
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// ntmode (optional)
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if (j.count("ntmode") != 0) {
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try {
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auto str = j.at("ntmode").get<std::string>();
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wpi::StringRef s(str);
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if (s.equals_lower("client")) {
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server = false;
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} else if (s.equals_lower("server")) {
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server = true;
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} else {
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ParseError() << "could not understand ntmode value '" << str << "'\n";
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}
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} catch (const wpi::json::exception& e) {
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ParseError() << "could not read ntmode: " << e.what() << '\n';
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}
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}
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// cameras
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try {
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for (auto&& camera : j.at("cameras")) {
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if (!ReadCameraConfig(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 cameras: " << e.what() << '\n';
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return false;
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}
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return true;
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}
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void StartCamera(const CameraConfig& config) {
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wpi::outs() << "Starting camera '" << config.name << "' on " << config.path
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<< '\n';
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auto inst = frc::CameraServer::GetInstance();
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cs::UsbCamera camera{config.name, config.path};
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auto server = inst->StartAutomaticCapture(camera);
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camera.SetConfigJson(config.config);
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camera.SetConnectionStrategy(cs::VideoSource::kConnectionKeepOpen);
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if (config.streamConfig.is_object())
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server.SetConfigJson(config.streamConfig);
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}
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} // namespace
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int main(int argc, char* argv[]) {
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if (argc >= 2) configFile = argv[1];
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// read configuration
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if (!ReadConfig()) return EXIT_FAILURE;
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// start NetworkTables
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auto ntinst = nt::NetworkTableInstance::GetDefault();
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if (server) {
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wpi::outs() << "Setting up NetworkTables server\n";
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ntinst.StartServer();
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} else {
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wpi::outs() << "Setting up NetworkTables client for team " << team << '\n';
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ntinst.StartClientTeam(team);
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}
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// start cameras
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for (auto&& camera : cameras) StartCamera(camera);
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// loop forever
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for (;;) std::this_thread::sleep_for(std::chrono::seconds(10));
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}
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