redo stream index handling, issue still not fixed

.vscode/tasks.json

@@ -6,7 +6,7 @@
         {
             "label": "RELEASE",
             "type": "shell",
-            "command": "make mode=release",
+            "command": "make -C lib-vs OPT=release",
             "problemMatcher": [],
             "group": {
                 "kind": "build",
@@ -16,7 +16,7 @@
         {
             "label": "DEBUG",
             "type": "shell",
-            "command": "make mode=debug",
+            "command": "make -C lib-vs OPT=debug",
             "problemMatcher": [],
             "group": {
                 "kind": "build",

lib-vs/obj/tfmodel.cpp.pic.d

@@ -141,13 +141,13 @@ obj/tfmodel.cpp.pic.o: src\core/tfmodel.cpp src\core/tfmodel.h \
  include/ntcore_cpp.h include/networktables/NetworkTableValue.h \
  include/networktables/NetworkTableEntry.inc \
  include/networktables/TableEntryListener.h \
- include/networktables/TableListener.h \
+ include/networktables/TableListener.h additions/cpp-tools/src/types.h \
+ src\core/visioncamera.h include/networktables/NetworkTableInstance.h \
+ include/networktables/NetworkTableInstance.inc \
  include/cameraserver/CameraServer.h include/wpi/deprecated.h \
  include/cscore.h include/cscore_c.h include/cscore_cpp.h \
  include/cscore_oo.h include/cscore_oo.inc include/cscore_cv.h \
- include/cameraserver/CameraServer.inc additions/cpp-tools/src/types.h \
- src\core/visioncamera.h include/networktables/NetworkTableInstance.h \
- include/networktables/NetworkTableInstance.inc include/wpi/json.h \
+ include/cameraserver/CameraServer.inc include/wpi/json.h \
  src\core/visionserver2.inc src\core/tfmodel.inc
 
 src\core/tfmodel.h:
@@ -482,6 +482,14 @@ include/networktables/TableEntryListener.h:
 
 include/networktables/TableListener.h:
 
+additions/cpp-tools/src/types.h:
+
+src\core/visioncamera.h:
+
+include/networktables/NetworkTableInstance.h:
+
+include/networktables/NetworkTableInstance.inc:
+
 include/cameraserver/CameraServer.h:
 
 include/wpi/deprecated.h:
@@ -500,14 +508,6 @@ include/cscore_cv.h:
 
 include/cameraserver/CameraServer.inc:
 
-additions/cpp-tools/src/types.h:
-
-src\core/visioncamera.h:
-
-include/networktables/NetworkTableInstance.h:
-
-include/networktables/NetworkTableInstance.inc:
-
 include/wpi/json.h:
 
 src\core/visionserver2.inc:

lib-vs/obj/visionserver2.cpp.pic.d

@@ -111,13 +111,13 @@ obj/visionserver2.cpp.pic.o: src\core/visionserver2.cpp \
  include/ntcore_cpp.h include/networktables/NetworkTableValue.h \
  include/networktables/NetworkTableEntry.inc \
  include/networktables/TableEntryListener.h \
- include/networktables/TableListener.h \
+ include/networktables/TableListener.h additions/cpp-tools/src/types.h \
+ src\core/visioncamera.h include/networktables/NetworkTableInstance.h \
+ include/networktables/NetworkTableInstance.inc \
  include/cameraserver/CameraServer.h include/wpi/deprecated.h \
  include/cscore.h include/cscore_c.h include/cscore_cpp.h \
  include/cscore_oo.h include/cscore_oo.inc include/cscore_cv.h \
- include/cameraserver/CameraServer.inc additions/cpp-tools/src/types.h \
- src\core/visioncamera.h include/networktables/NetworkTableInstance.h \
- include/networktables/NetworkTableInstance.inc include/wpi/json.h \
+ include/cameraserver/CameraServer.inc include/wpi/json.h \
  src\core/visionserver2.inc
 
 src\core/visionserver2.h:
@@ -382,6 +382,14 @@ include/networktables/TableEntryListener.h:
 
 include/networktables/TableListener.h:
 
+additions/cpp-tools/src/types.h:
+
+src\core/visioncamera.h:
+
+include/networktables/NetworkTableInstance.h:
+
+include/networktables/NetworkTableInstance.inc:
+
 include/cameraserver/CameraServer.h:
 
 include/wpi/deprecated.h:
@@ -400,14 +408,6 @@ include/cscore_cv.h:
 
 include/cameraserver/CameraServer.inc:
 
-additions/cpp-tools/src/types.h:
-
-src\core/visioncamera.h:
-
-include/networktables/NetworkTableInstance.h:
-
-include/networktables/NetworkTableInstance.inc:
-
 include/wpi/json.h:
 
 src\core/visionserver2.inc:

lib-vs/out/include/target.h

@@ -19,12 +19,12 @@ namespace vs2 {
 */
 class Target {
 public:
-	inline static const std::shared_ptr<nt::NetworkTable>
-		target_table{VisionServer::base_table->GetSubTable("Targets")};
+	// inline static const std::shared_ptr<nt::NetworkTable>
+	// 	target_table{VisionServer::getTable()->GetSubTable("Targets")};
 
 	Target() = delete;
-	inline Target(const std::string& n) : name(n), table(target_table->GetSubTable(this->name)) {}
-	inline Target(std::string&& n) : name(std::move(n)), table(target_table->GetSubTable(this->name)) {}
+	inline Target(const std::string& n) : name(n), table(VisionServer::targetsTable()->GetSubTable(this->name)) {}
+	inline Target(std::string&& n) : name(std::move(n)), table(VisionServer::targetsTable()->GetSubTable(this->name)) {}
 	Target(const Target&) = default;
 	Target(Target&&) = default;
 

lib-vs/out/include/visioncamera.h

@@ -136,12 +136,7 @@ class VisionCamera final: public cs::VideoCamera {
 	 * Get the internal CvSink for aquiring frames from the camera
 	 * @return a const reference to the internal sink
 	*/
-	inline const cs::CvSink& getSink() const { return this->source; }
-	/**
-	 * Creates a cs::CvSource with correct options as to be used for the camera
-	 * @return A cs::CvSource object that could be used to stream frames from the camera. This object is not connected to the source feed of the camera in anyway unless passed frames are passed manually
-	*/
-	cs::CvSource generateServer() const;
+	inline const cs::CvSink& getSink() const { return this->raw; }
 
 	/**
 	 * Get the width of a frame output by the camera
@@ -216,11 +211,6 @@ class VisionCamera final: public cs::VideoCamera {
 	void deleteEntries();
 
 protected:
-	/**
-	 * Creates a cs::CvSink for the camera and updates stream configuration if it has any
-	 * @return A cs::CvSink object connected to the current camera
-	*/
-	cs::CvSink getVideo() const;
 	/**
 	 * Publish an adjustable networktable entry for the camera's brightness
 	*/
@@ -236,7 +226,7 @@ class VisionCamera final: public cs::VideoCamera {
 
 private:
 	wpi::json config, calibration;
-	cs::CvSink source;
+	cs::CvSink raw;
 	cv::Mat_<float> camera_matrix{default_matrix}, distortion{default_distort};
 	cs::VideoMode properties;
 

lib-vs/out/include/visionserver2.h

@@ -10,7 +10,6 @@
 #include <opencv2/opencv.hpp>
 
 #include <networktables/NetworkTable.h>
-#include <cameraserver/CameraServer.h>
 
 #include "cpp-tools/src/types.h"
 #include "visioncamera.h"
@@ -21,8 +20,8 @@ namespace vs2 {
 class VisionServer final {
 	struct OutputStream;
 public:
-	inline static const std::shared_ptr<nt::NetworkTable>
-		base_table{nt::NetworkTableInstance::GetDefault().GetTable("Vision Server")};
+	// inline static const std::shared_ptr<nt::NetworkTable>
+	// 	base_table{nt::NetworkTableInstance::GetDefault().GetTable("Vision Server")};
 
 	inline static void Init() {
 		getInstance();
@@ -31,13 +30,17 @@ class VisionServer final {
 		static VisionServer instance;
 		return instance;
 	}
+	inline static std::shared_ptr<nt::NetworkTable> getTable() { return inst().base; }
+	inline static std::shared_ptr<nt::NetworkTable> pipesTable() { return inst().pipes; }
+	inline static std::shared_ptr<nt::NetworkTable> streamsTable() { return inst().outputs; }
+	inline static std::shared_ptr<nt::NetworkTable> targetsTable() { return inst().targets; }
 
 
 	class BasePipe : public cs::CvSource {
 		friend class VisionServer;
 	public:
-		inline static const std::shared_ptr<nt::NetworkTable>
-			pipe_table{VisionServer::base_table->GetSubTable("Pipelines")};
+		// inline static const std::shared_ptr<nt::NetworkTable>
+		// 	pipe_table{VisionServer::base_table->GetSubTable("Pipelines")};
 
 		inline const std::string& getName() const { return this->name; }
 		inline const std::shared_ptr<nt::NetworkTable> getTable() const { return this->table; }
@@ -47,13 +50,13 @@ class VisionServer final {
 	protected:
 		inline BasePipe(const char* name) :	/* start enable/disable callback for more efficent threading */
 			CvSource(name, cs::VideoMode()), name(name),
-			input(this->name), table(pipe_table->GetSubTable(this->name)) {}
+			input(this->name), table(pipesTable()->GetSubTable(this->name)) {}
 		inline BasePipe(const std::string& name) :
 			CvSource(name, cs::VideoMode()), name(name),
-			input(this->name), table(pipe_table->GetSubTable(this->name)) {}
+			input(this->name), table(pipesTable()->GetSubTable(this->name)) {}
 		inline BasePipe(std::string&& name) :
 			CvSource(name, cs::VideoMode()), name(name),
-			input(this->name), table(pipe_table->GetSubTable(this->name)) {}
+			input(this->name), table(pipesTable()->GetSubTable(this->name)) {}
 		BasePipe() = delete;
 
 
@@ -100,10 +103,12 @@ class VisionServer final {
 	static void addStream();
 	static void addStream(std::string_view);
 	static void addStream(std::string_view, int port);
+	static void addStream(const cs::MjpegServer&);
+	static void addStream(cs::MjpegServer&&);
 	static void addStreams(size_t = 2);
 	static void addStreams(std::initializer_list<std::string_view>);
 	static void addStreams(std::initializer_list<std::pair<std::string_view, int> >);
-	static void addStreams(std::vector<cs::MjpegServer>&&);
+	static void addStreams(const std::vector<cs::MjpegServer>&);
 	static const std::vector<OutputStream>& getStreams();
 	static size_t numStreams();
 
@@ -141,27 +146,40 @@ class VisionServer final {
 	std::vector<OutputStream> streams;
 	std::vector<std::unique_ptr<BasePipe> > heap_allocated;
 
+	std::shared_ptr<nt::NetworkTable>
+		base, pipes, outputs, targets
+	;
+
 	std::thread head;
 	std::atomic<bool> is_running{false};
 
 	struct OutputStream : public cs::MjpegServer {
 		friend class VisionServer;
 	public:
-		inline static const std::shared_ptr<nt::NetworkTable>
-			streams_table = base_table->GetSubTable("Streams");
+		// inline static std::shared_ptr<nt::NetworkTable> streamsTable() {
+		// 	static std::shared_ptr<nt::NetworkTable> st{VisionServer::base_table->GetSubTable("Streams")};
+		// 	return st;
+		// }
 
 		inline OutputStream(std::string_view n) :
 			OutputStream(frc::CameraServer::AddServer(n)) {}
 		inline OutputStream(std::string_view n, int p) :
 			OutputStream(frc::CameraServer::AddServer(n, p)) {}
 		OutputStream(cs::MjpegServer&& s);	// setup ntable values
+		inline OutputStream(const OutputStream& o) : table(o.table), local_idx(o.local_idx.load()) {}
 		~OutputStream();
 
-		inline void setSourceIdx(int i) { this->table->GetEntry("Source Index").SetDouble(i); }
+		void setSourceIdx(int i);
+		inline void setPipelineIdx(uint16_t i) { this->setSourceIdx(i); }
+		inline void setCameraIdx(uint16_t i) { this->setSourceIdx(-(int)i); }
+
+	protected:
+		void updateNt();
 
 	private:
+		// try storing MjpegServer instead of extending?
 		const std::shared_ptr<nt::NetworkTable> table;
-		NT_EntryListener listener;
+		std::atomic_int local_idx{0};
 
 	};
 

lib-vs/src/core/target.h

@@ -19,12 +19,12 @@ namespace vs2 {
 */
 class Target {
 public:
-	inline static const std::shared_ptr<nt::NetworkTable>
-		target_table{VisionServer::base_table->GetSubTable("Targets")};
+	// inline static const std::shared_ptr<nt::NetworkTable>
+	// 	target_table{VisionServer::getTable()->GetSubTable("Targets")};
 
 	Target() = delete;
-	inline Target(const std::string& n) : name(n), table(target_table->GetSubTable(this->name)) {}
-	inline Target(std::string&& n) : name(std::move(n)), table(target_table->GetSubTable(this->name)) {}
+	inline Target(const std::string& n) : name(n), table(VisionServer::targetsTable()->GetSubTable(this->name)) {}
+	inline Target(std::string&& n) : name(std::move(n)), table(VisionServer::targetsTable()->GetSubTable(this->name)) {}
 	Target(const Target&) = default;
 	Target(Target&&) = default;
 

lib-vs/src/core/vision.cpp

@@ -119,6 +119,7 @@ bool readConfig(std::vector<VisionCamera>& cameras, const char* file) {
     //     }
     // }
 
+    wpi::outs().flush();
     return true;
 }
 

lib-vs/src/core/visioncamera.cpp

@@ -7,22 +7,27 @@
 
 
 VisionCamera::VisionCamera(CS_Source handle) : 
-	VideoCamera(handle), source(this->getVideo()), properties(this->GetVideoMode())
-{}
+	VideoCamera(handle), raw(this->GetName() + "_cvraw"), properties(this->GetVideoMode())
+{
+    this->raw.SetSource(*this);
+}
 VisionCamera::VisionCamera(const cs::VideoSource& source, const wpi::json& config) : 
-	VideoCamera(source.GetHandle()), config(config), source(this->getVideo()), properties(this->GetVideoMode())
+	VideoCamera(source.GetHandle()), config(config), raw(this->GetName() + "_cvraw"), properties(this->GetVideoMode())
 {
     if(this->properties) { this->properties = ::getJsonVideoMode(config); }
+    this->raw.SetSource(*this);
 }
 VisionCamera::VisionCamera(const cs::UsbCamera& source, const wpi::json& config) : 
-	VideoCamera(source.GetHandle()), config(config), source(this->getVideo()), properties(this->GetVideoMode())
+	VideoCamera(source.GetHandle()), config(config), raw(this->GetName() + "_cvraw"), properties(this->GetVideoMode())
 {
     if(this->properties) { this->properties = ::getJsonVideoMode(config); }
+    this->raw.SetSource(*this);
 }
 VisionCamera::VisionCamera(const cs::HttpCamera& source, const wpi::json& config) :
-	VideoCamera(source.GetHandle()), config(config), source(this->getVideo()), properties(this->GetVideoMode())
+	VideoCamera(source.GetHandle()), config(config), raw(this->GetName() + "_cvraw"), properties(this->GetVideoMode())
 {
     if(this->properties) { this->properties = ::getJsonVideoMode(config); }
+    this->raw.SetSource(*this);
 }
 VisionCamera::VisionCamera(const wpi::json& source_config, const wpi::json& calibration) :
     config(source_config), calibration(calibration)
@@ -38,7 +43,8 @@ VisionCamera::VisionCamera(const wpi::json& source_config, const wpi::json& cali
 	swap(*this, cam);	// this should work
     this->getJsonCameraMatrix(this->camera_matrix);
     this->getJsonDistortionCoefs(this->distortion);
-    this->source = this->getVideo();
+    this->raw = cs::CvSink(this->GetName() + "_cvraw");
+    this->raw.SetSource(*this);
     this->properties = this->GetVideoMode();
     if(this->properties) { this->properties = ::getJsonVideoMode(config); }
 }
@@ -54,7 +60,8 @@ VisionCamera::VisionCamera(const wpi::json& source_config) :
 	cam.SetConnectionStrategy(cs::VideoSource::kConnectionKeepOpen);
 	// print confirmation
 	swap(*this, cam);	// this should work
-    this->source = this->getVideo();
+    this->raw = cs::CvSink(this->GetName() + "_cvraw");
+    this->raw.SetSource(*this);
     this->properties = this->GetVideoMode();
     if(!this->properties) { this->properties = ::getJsonVideoMode(config); }
 }
@@ -171,32 +178,21 @@ bool VisionCamera::getJsonDistortionCoefs(cv::Mat_<float>& array) const {
 
 uint64_t VisionCamera::getFrame(cv::Mat& o_frame, double timeout) const {
 	if(this->IsConnected()) {
-		return this->source.GrabFrame(o_frame, timeout);
+		return this->raw.GrabFrame(o_frame, timeout);
 	} else {
 		o_frame = cv::Mat::zeros(this->getResolution(), CV_8UC3);
 		return 0;
 	}
 }
 uint64_t VisionCamera::getFrameNoTmO(cv::Mat& o_frame) const {
 	if(this->IsConnected()) {
-		return this->source.GrabFrameNoTimeout(o_frame);
+		return this->raw.GrabFrameNoTimeout(o_frame);
 	} else {
 		o_frame = cv::Mat::zeros(this->getResolution(), CV_8UC3);
 		return 0;
 	}
 }
 
-cs::CvSink VisionCamera::getVideo() const {
-	cs::CvSink video = frc::CameraServer::GetVideo(*this);
-	if(this->config.count("stream") > 0) {
-		video.SetConfigJson(this->config.at("stream"));
-	}
-	return video;
-}
-cs::CvSource VisionCamera::generateServer() const {
-	return frc::CameraServer::PutVideo(("Camera stream: " + this->GetName()), this->getWidth(), this->getHeight());
-}
-
 int VisionCamera::getWidth() const {
     return this->properties.width;
 }