15 #include "ErrorBase.h"
17 #include "llvm/DenseMap.h"
18 #include "llvm/StringMap.h"
19 #include "llvm/StringRef.h"
20 #include "networktables/NetworkTable.h"
30 static constexpr uint16_t kBasePort = 1181;
31 static constexpr
int kSize640x480 = 0;
32 static constexpr
int kSize320x240 = 1;
33 static constexpr
int kSize160x120 = 2;
77 llvm::StringRef path);
125 cs::AxisCamera
AddAxisCamera(llvm::ArrayRef<std::string> hosts);
135 template <
typename T>
136 cs::AxisCamera
AddAxisCamera(std::initializer_list<T> hosts);
144 cs::AxisCamera
AddAxisCamera(llvm::StringRef name, llvm::StringRef host);
152 cs::AxisCamera
AddAxisCamera(llvm::StringRef name,
const char* host);
160 cs::AxisCamera
AddAxisCamera(llvm::StringRef name,
const std::string& host);
169 llvm::ArrayRef<std::string> hosts);
177 template <
typename T>
179 std::initializer_list<T> hosts);
196 cs::CvSink
GetVideo(
const cs::VideoSource& camera);
204 cs::CvSink
GetVideo(llvm::StringRef name);
214 cs::CvSource
PutVideo(llvm::StringRef name,
int width,
int height);
221 cs::MjpegServer
AddServer(llvm::StringRef name);
228 cs::MjpegServer
AddServer(llvm::StringRef name,
int port);
235 void AddServer(
const cs::VideoSink& server);
249 void AddCamera(
const cs::VideoSource& camera);
272 std::shared_ptr<ITable> GetSourceTable(CS_Source source);
273 std::vector<std::string> GetSinkStreamValues(CS_Sink sink);
274 std::vector<std::string> GetSourceStreamValues(CS_Source source);
275 void UpdateStreamValues();
277 static constexpr
char const* kPublishName =
"/CameraPublisher";
280 std::string m_primarySourceName;
281 llvm::StringMap<cs::VideoSource> m_sources;
282 llvm::StringMap<cs::VideoSink> m_sinks;
283 llvm::DenseMap<CS_Source, std::shared_ptr<ITable>> m_tables;
284 std::shared_ptr<NetworkTable> m_publishTable;
285 cs::VideoListener m_videoListener;
288 std::vector<std::string> m_addresses;
293 #include "CameraServer.inc"
void SetSize(int size)
Sets the size of the image to use.
Definition: CameraServer.cpp:674
cs::AxisCamera AddAxisCamera(llvm::StringRef host)
Adds an Axis IP camera.
Definition: CameraServer.cpp:516
cs::UsbCamera StartAutomaticCapture()
Start automatically capturing images to send to the dashboard.
Definition: CameraServer.cpp:488
static CameraServer * GetInstance()
Get the CameraServer instance.
Definition: CameraServer.cpp:18
cs::CvSource PutVideo(llvm::StringRef name, int width, int height)
Create a MJPEG stream with OpenCV input.
Definition: CameraServer.cpp:630
Base class for most objects.
Definition: ErrorBase.h:72
void RemoveCamera(llvm::StringRef name)
Removes a camera by name.
Definition: CameraServer.cpp:669
cs::MjpegServer AddServer(llvm::StringRef name)
Adds a MJPEG server at the next available port.
Definition: CameraServer.cpp:637
void AddCamera(const cs::VideoSource &camera)
Adds an already created camera.
Definition: CameraServer.cpp:662
Singleton class for creating and keeping camera servers.
Definition: CameraServer.h:28
void RemoveServer(llvm::StringRef name)
Removes a server by name.
Definition: CameraServer.cpp:657
cs::CvSink GetVideo()
Get OpenCV access to the primary camera feed.
Definition: CameraServer.cpp:569