Merge pull request #12 from FRC3407/update-deps

fix ntables, update neon

.vscode/settings.json

@@ -90,7 +90,15 @@
         "unordered_set": "cpp",
         "future": "cpp",
         "variant": "cpp",
-        "span": "cpp"
+        "span": "cpp",
+        "any": "cpp",
+        "bitset": "cpp",
+        "cfenv": "cpp",
+        "numbers": "cpp",
+        "ranges": "cpp",
+        "scoped_allocator": "cpp",
+        "shared_mutex": "cpp",
+        "typeindex": "cpp"
     },
     "cmake.configureOnOpen": false
 }

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

@@ -144,8 +144,8 @@ obj/tfmodel.cpp.pic.o: src\core/tfmodel.cpp src\core/tfmodel.h \
  include/networktables/NetworkTableInstance.h \
  include/networktables/NetworkTableInstance.inc \
  include/networktables/Topic.h include/networktables/Topic.inc \
- include/networktables/DoubleTopic.h \
- include/networktables/DoubleTopic.inc \
+ include/networktables/IntegerTopic.h \
+ include/networktables/IntegerTopic.inc \
  include/cameraserver/CameraServer.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 \
@@ -320,8 +320,8 @@ include/networktables/NetworkTableInstance.h:
 include/networktables/NetworkTableInstance.inc:
 include/networktables/Topic.h:
 include/networktables/Topic.inc:
-include/networktables/DoubleTopic.h:
-include/networktables/DoubleTopic.inc:
+include/networktables/IntegerTopic.h:
+include/networktables/IntegerTopic.inc:
 include/cameraserver/CameraServer.h:
 include/cscore.h:
 include/cscore_c.h:

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

@@ -113,8 +113,8 @@ obj/visioncamera.cpp.pic.o: src\core/visioncamera.cpp \
  include/networktables/NetworkTableEntry.inc \
  include/networktables/NetworkTableInstance.inc \
  include/networktables/Topic.h include/networktables/Topic.inc \
- include/networktables/DoubleTopic.h \
- include/networktables/DoubleTopic.inc \
+ include/networktables/IntegerTopic.h \
+ include/networktables/IntegerTopic.inc \
  include/cameraserver/CameraServer.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 \
@@ -254,8 +254,8 @@ include/networktables/NetworkTableEntry.inc:
 include/networktables/NetworkTableInstance.inc:
 include/networktables/Topic.h:
 include/networktables/Topic.inc:
-include/networktables/DoubleTopic.h:
-include/networktables/DoubleTopic.inc:
+include/networktables/IntegerTopic.h:
+include/networktables/IntegerTopic.inc:
 include/cameraserver/CameraServer.h:
 include/cscore.h:
 include/cscore_c.h:

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

@@ -114,8 +114,8 @@ obj/visionserver2.cpp.pic.o: src\core/visionserver2.cpp \
  include/networktables/NetworkTableInstance.h \
  include/networktables/NetworkTableInstance.inc \
  include/networktables/Topic.h include/networktables/Topic.inc \
- include/networktables/DoubleTopic.h \
- include/networktables/DoubleTopic.inc \
+ include/networktables/IntegerTopic.h \
+ include/networktables/IntegerTopic.inc \
  include/cameraserver/CameraServer.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 \
@@ -255,8 +255,8 @@ include/networktables/NetworkTableInstance.h:
 include/networktables/NetworkTableInstance.inc:
 include/networktables/Topic.h:
 include/networktables/Topic.inc:
-include/networktables/DoubleTopic.h:
-include/networktables/DoubleTopic.inc:
+include/networktables/IntegerTopic.h:
+include/networktables/IntegerTopic.inc:
 include/cameraserver/CameraServer.h:
 include/cscore.h:
 include/cscore_c.h:

lib-vs/out/include/aprilpose.h

@@ -20,13 +20,13 @@ class AprilPose_ : public vs2::VPipeline<AprilPose_<derived_t> > {
 	inline AprilPose_(
 		const cv::Ptr<cv::aruco::Board> f,
 		cv::Ptr<cv::aruco::DetectorParameters> p = cv::aruco::DetectorParameters::create()
-	) : vs2::VPipeline<This_t>("AprilTag Pose Estimator "), field{f}, markers{f->dictionary}, params{p}
+	) : vs2::VPipeline<This_t>("AprilTag Pose Estimator"), field{f}, markers{f->dictionary}, params{p}
 	{
 		this->getTable()->PutNumber("Scaling", this->scale);
 		this->getTable()->PutNumber("Decimate", this->params->aprilTagQuadDecimate);
 	}
 
-	virtual void process(cv::Mat& io_frame) override;
+	inline virtual void process(cv::Mat& io_frame) override { this->_proc(io_frame); }
 
 protected:
 	inline AprilPose_(
@@ -42,6 +42,7 @@ class AprilPose_ : public vs2::VPipeline<AprilPose_<derived_t> > {
 		cv::Ptr<cv::aruco::DetectorParameters> p = cv::aruco::DetectorParameters::create()
 	) : vs2::VPipeline<This_t>(n), field{f}, markers{f->dictionary}, params{p} { this->getTable()->PutNumber("Scaling", this->scale); }
 
+	void _proc(cv::Mat& io_frame);
 
 	cv::Ptr<cv::aruco::Board> field;
 	cv::Ptr<cv::aruco::Dictionary> markers;
@@ -67,7 +68,7 @@ typedef AprilPose_<>	AprilPose;
 using hrc = std::chrono::high_resolution_clock;
 #endif
 template<class derived>
-void AprilPose_<derived>::process(cv::Mat& io_frame) {
+void AprilPose_<derived>::_proc(cv::Mat& io_frame) {
 #ifdef APRILPOSE_DEBUG
 	hrc::time_point beg, end;
 	beg = hrc::now();

lib-vs/out/include/visioncamera.h

@@ -4,7 +4,7 @@
 
 #include <networktables/NetworkTableInstance.h>
 #include <networktables/NetworkTable.h>
-#include <networktables/DoubleTopic.h>
+#include <networktables/IntegerTopic.h>
 #include <cameraserver/CameraServer.h>
 #include <wpi/json.h>
 
@@ -54,16 +54,20 @@ class VisionCamera final: public cs::VideoCamera {
 	 * @param source_config The camera configuration json object
 	*/
 	VisionCamera(const wpi::json& source_config);
-	// VisionCamera(const VisionCamera&);
-	// VisionCamera(VisionCamera&&);
+	VisionCamera(const VisionCamera&) = delete;
+	VisionCamera(VisionCamera&&);
+	// inline VisionCamera(const VisionCamera&) { std::cout << "VCamera copied." << std::endl; }
+	// inline VisionCamera(VisionCamera&&) { std::cout << "VCamera moved." << std::endl; }
 	/**
 	 * Deletes all networktable entries for the camera's subtable
 	*/
 	~VisionCamera();
-	//VisionCamera& operator=(const VisionCamera&);
-	//VisionCamera& operator=(VisionCamera&&);
 
-	//cs::VideoSource::Kind getType() const;
+	inline VisionCamera& operator=(const VisionCamera&) = delete;
+	VisionCamera& operator=(VisionCamera&&);
+	// inline VisionCamera& operator=(const VisionCamera&) { std::cout << "VCamera copied via operator." << std::endl; }
+	// inline VisionCamera& operator=(VisionCamera&&) { std::cout << "VCamera moved via operator." << std::endl; }
+
 	/**
 	 * Get if the cameras calibration json is valid
 	 * @return Whether or not the calibration json is valid
@@ -173,33 +177,33 @@ class VisionCamera final: public cs::VideoCamera {
 	 * Get the current brightness setting for the camera
 	 * @return The brightness (0-100, -1 for auto)
 	*/
-	int8_t getBrightness() const;
+	int getBrightness() const;
 	/**
 	 * Get the current exposure setting for the camera
 	 * @return The exposure (0-100, -1 for auto)
 	*/
-	int8_t getExposure() const;
+	int getExposure() const;
 	/**
 	 * Get the current whitebalance setting for the camera
 	 * @return The whitebalance (0-??? (>7000), -1 for auto)
 	*/
-	int16_t getWhiteBalance() const;
+	int getWhiteBalance() const;
 
 	/**
 	 * Set the brightness of the camera
 	 * @param b The brightness (0-100, -1 for auto)
 	*/
-	void setBrightness(int8_t b);		// ranges 0 through 100 (a percent)
+	void setBrightness(int b);		// ranges 0 through 100 (a percent)
 	/**
 	 * Set the whitebalance of the camera
 	 * @param wb The whitebalance (0-???, -1 for auto)
 	*/
-	void setWhiteBalance(int16_t wb);	// ranges 0 through ~7000(+?) (look up) -> -1 sets to auto
+	void setWhiteBalance(int wb);	// ranges 0 through ~7000(+?) (look up) -> -1 sets to auto
 	/**
 	 * Set the exposure of the camera
 	 * @param e The exposure (0-100, -1 for auto)
 	*/
-	void setExposure(int8_t e);		// ranges 0 through 100 -> -1 sets to auto
+	void setExposure(int e);		// ranges 0 through 100 -> -1 sets to auto
 
 	/**
 	 * Set the root networktable in which the camera's own networktable should reside
@@ -210,37 +214,23 @@ class VisionCamera final: public cs::VideoCamera {
 	 * Publish networktables-adjustable settings for exposure, brightness, and whitebalance under the camera's networktable
 	*/
 	void setNetworkAdjustable();
-	/**
-	 * Deletes all created entries in the camera's networktable
-	*/
-	void deleteEntries();
 
 protected:
-	/**
-	 * Publish an adjustable networktable entry for the camera's brightness
-	*/
-	void setBrightnessAdjustable();
-	/**
-	 * Publish an adjustable networktable entry for the camera's whitebalance
-	*/
-	void setWhiteBalanceAdjustable();
-	/**
-	 * Publish an adjustable networktable entry for the camera's exposure
-	*/
-	void setExposureAdjustable();
+	int _setBrightness(int b);
+	int _setWhiteBalance(int wb);
+	int _setExposure(int e);
 
 private:
 	wpi::json config, calibration;
 	cs::CvSink raw;
 	cv::Mat_<float> camera_matrix{default_matrix}, distortion{default_distort};
 	cs::VideoMode properties;
 
-	int8_t brightness{50}, exposure{-1};
-	int16_t whitebalance{-1};
-
-	std::shared_ptr<nt::NetworkTable> nt_camera{
+	std::shared_ptr<nt::NetworkTable> ntable{
 		nt::NetworkTableInstance::GetDefault().GetTable("Cameras")->GetSubTable(this->GetName())};
-	//nt::DoubleEntry nt_brightness, nt_exposure, nt_whitebalance;
+	nt::IntegerEntry
+		nt_brightness, nt_exposure, nt_whitebalance;
+	NT_Listener listener_handle{0};
 
 
 };

lib-vs/out/include/visionserver2.h

@@ -87,7 +87,7 @@ class VisionServer final {
 	static bool addCamera(VisionCamera&&);
 	static bool addCameras(std::vector<VisionCamera>&&);
 	static bool setCameras(std::vector<VisionCamera>&&);
-	static const std::vector<VisionCamera>& getCameras();
+	static std::vector<VisionCamera>& getCameras();
 	static size_t numCameras();
 
 	template<class pipeline>
@@ -261,7 +261,7 @@ typedef SequentialPipeline<>	SeqPipeline;
 
 namespace vs2 {
 
-inline const std::vector<VisionCamera>& VisionServer::getCameras() { return inst().cameras; }
+inline std::vector<VisionCamera>& VisionServer::getCameras() { return inst().cameras; }
 inline size_t VisionServer::numCameras() { return inst().cameras.size(); }
 inline const std::vector<VisionServer::BasePipe*>& VisionServer::getPipelines() { return inst().pipelines; }
 inline size_t VisionServer::numPipelines() { return inst().pipelines.size(); }

lib-vs/src/core/aprilpose.h

@@ -20,13 +20,13 @@ class AprilPose_ : public vs2::VPipeline<AprilPose_<derived_t> > {
 	inline AprilPose_(
 		const cv::Ptr<cv::aruco::Board> f,
 		cv::Ptr<cv::aruco::DetectorParameters> p = cv::aruco::DetectorParameters::create()
-	) : vs2::VPipeline<This_t>("AprilTag Pose Estimator "), field{f}, markers{f->dictionary}, params{p}
+	) : vs2::VPipeline<This_t>("AprilTag Pose Estimator"), field{f}, markers{f->dictionary}, params{p}
 	{
 		this->getTable()->PutNumber("Scaling", this->scale);
 		this->getTable()->PutNumber("Decimate", this->params->aprilTagQuadDecimate);
 	}
 
-	virtual void process(cv::Mat& io_frame) override;
+	inline virtual void process(cv::Mat& io_frame) override { this->_proc(io_frame); }
 
 protected:
 	inline AprilPose_(
@@ -42,6 +42,7 @@ class AprilPose_ : public vs2::VPipeline<AprilPose_<derived_t> > {
 		cv::Ptr<cv::aruco::DetectorParameters> p = cv::aruco::DetectorParameters::create()
 	) : vs2::VPipeline<This_t>(n), field{f}, markers{f->dictionary}, params{p} { this->getTable()->PutNumber("Scaling", this->scale); }
 
+	void _proc(cv::Mat& io_frame);
 
 	cv::Ptr<cv::aruco::Board> field;
 	cv::Ptr<cv::aruco::Dictionary> markers;
@@ -67,7 +68,7 @@ typedef AprilPose_<>	AprilPose;
 using hrc = std::chrono::high_resolution_clock;
 #endif
 template<class derived>
-void AprilPose_<derived>::process(cv::Mat& io_frame) {
+void AprilPose_<derived>::_proc(cv::Mat& io_frame) {
 #ifdef APRILPOSE_DEBUG
 	hrc::time_point beg, end;
 	beg = hrc::now();

lib-vs/src/core/config.cpp

@@ -56,9 +56,9 @@ bool initNT(const char* file) {
             } else {
                 wpi::outs() << "Setting up NetworkTables for SIMULATION mode - host: " << str << newline;
 #if NT_CLIENT_VERSION == 4
-                    nt::NetworkTableInstance::GetDefault().StartClient4("VisionServer");
+                nt::NetworkTableInstance::GetDefault().StartClient4("VisionServer");
 #else
-                    nt::NetworkTableInstance::GetDefault().StartClient3("VisionServer");
+            	nt::NetworkTableInstance::GetDefault().StartClient3("VisionServer");
 #endif
                 nt::NetworkTableInstance::GetDefault().SetServer(str.c_str());
             }