Update C++ and Java examples

PeterJohnson · PeterJohnson · commit 5e8fb1d6d00b · 2023-01-02T21:08:39.000-08:00
diff --git a/deps/examples/cpp-multiCameraServer/Makefile b/deps/examples/cpp-multiCameraServer/Makefile
@@ -19,4 +19,4 @@ ${EXE}: ${OBJS}
 	${CXX} -pthread -g -o $@ $^ ${DEPS_LIBS} -Wl,--unresolved-symbols=ignore-in-shared-libs
 
 .cpp.o:
-	${CXX} -pthread -g -Og -c -o $@ -std=c++17 ${CXXFLAGS} ${DEPS_CFLAGS} $<
+	${CXX} -pthread -g -Og -c -o $@ -std=c++20 ${CXXFLAGS} ${DEPS_CFLAGS} $<
diff --git a/deps/examples/cpp-multiCameraServer/main.cpp b/deps/examples/cpp-multiCameraServer/main.cpp
@@ -15,7 +15,6 @@
 #include <wpi/StringExtras.h>
 #include <wpi/json.h>
 #include <wpi/raw_istream.h>
-#include <wpi/raw_ostream.h>
 
 #include "cameraserver/CameraServer.h"
 
@@ -85,8 +84,15 @@ std::vector<CameraConfig> cameraConfigs;
 std::vector<SwitchedCameraConfig> switchedCameraConfigs;
 std::vector<cs::VideoSource> cameras;
 
-void ParseError(std::string_view msg) {
-  fmt::print(stderr, "config error in '{}': {}\n", configFile, msg);
+void ParseErrorV(fmt::string_view format, fmt::format_args args) {
+  fmt::print(stderr, "config error in '{}': ", configFile);
+  fmt::vprint(stderr, format, args);
+  fmt::print(stderr, "\n");
+}
+
+template <typename... Args>
+void ParseError(fmt::string_view format, Args&&... args) {
+  ParseErrorV(format, fmt::make_format_args(args...));
 }
 
 bool ReadCameraConfig(const wpi::json& config) {
@@ -96,15 +102,15 @@ bool ReadCameraConfig(const wpi::json& config) {
   try {
     c.name = config.at("name").get<std::string>();
   } catch (const wpi::json::exception& e) {
-    ParseError(fmt::format("could not read camera name: {}", e.what()));
+    ParseError("could not read camera name: {}", e.what());
     return false;
   }
 
   // path
   try {
     c.path = config.at("path").get<std::string>();
   } catch (const wpi::json::exception& e) {
-    ParseError(fmt::format("camera '{}': could not read path: {}", c.name, e.what()));
+    ParseError("camera '{}': could not read path: {}", c.name, e.what());
     return false;
   }
 
@@ -124,17 +130,16 @@ bool ReadSwitchedCameraConfig(const wpi::json& config) {
   try {
     c.name = config.at("name").get<std::string>();
   } catch (const wpi::json::exception& e) {
-    ParseError(fmt::format("could not read switched camera name: {}",
-                           e.what()));
+    ParseError("could not read switched camera name: {}", e.what());
     return false;
   }
 
   // key
   try {
     c.key = config.at("key").get<std::string>();
   } catch (const wpi::json::exception& e) {
-    ParseError(fmt::format("switched camera '{}': could not read key: {}",
-                           c.name, e.what()));
+    ParseError("switched camera '{}': could not read key: {}", c.name,
+               e.what());
     return false;
   }
 
@@ -147,8 +152,7 @@ bool ReadConfig() {
   std::error_code ec;
   wpi::raw_fd_istream is(configFile, ec);
   if (ec) {
-    wpi::errs() << "could not open '" << configFile << "': " << ec.message()
-                << '\n';
+    fmt::print(stderr, "could not open '{}': {}", configFile, ec.message());
     return false;
   }
 
@@ -157,7 +161,7 @@ bool ReadConfig() {
   try {
     j = wpi::json::parse(is);
   } catch (const wpi::json::parse_error& e) {
-    ParseError(fmt::format("byte {}: {}", e.byte, e.what()));
+    ParseError("byte {}: {}", e.byte, e.what());
     return false;
   }
 
@@ -171,7 +175,7 @@ bool ReadConfig() {
   try {
     team = j.at("team").get<unsigned int>();
   } catch (const wpi::json::exception& e) {
-    ParseError(fmt::format("could not read team number: {}", e.what()));
+    ParseError("could not read team number: {}", e.what());
     return false;
   }
 
@@ -184,10 +188,10 @@ bool ReadConfig() {
       } else if (wpi::equals_lower(str, "server")) {
         server = true;
       } else {
-        ParseError(fmt::format("could not understand ntmode value '{}'", str));
+        ParseError("could not understand ntmode value '{}'", str);
       }
     } catch (const wpi::json::exception& e) {
-      ParseError(fmt::format("could not read ntmode: {}", e.what()));
+      ParseError("could not read ntmode: {}", e.what());
     }
   }
 
@@ -197,7 +201,7 @@ bool ReadConfig() {
       if (!ReadCameraConfig(camera)) return false;
     }
   } catch (const wpi::json::exception& e) {
-    ParseError(fmt::format("could not read cameras: {}", e.what()));
+    ParseError("could not read cameras: {}", e.what());
     return false;
   }
 
@@ -208,7 +212,7 @@ bool ReadConfig() {
         if (!ReadSwitchedCameraConfig(camera)) return false;
       }
     } catch (const wpi::json::exception& e) {
-      ParseError(fmt::format("could not read switched cameras: {}", e.what()));
+      ParseError("could not read switched cameras: {}", e.what());
       return false;
     }
   }
@@ -234,24 +238,29 @@ cs::MjpegServer StartSwitchedCamera(const SwitchedCameraConfig& config) {
   fmt::print("Starting switched camera '{}' on {}\n", config.name, config.key);
   auto server = frc::CameraServer::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;
-                }
-              }
+  auto inst = nt::NetworkTableInstance::GetDefault();
+  inst.AddListener(
+    inst.GetTopic(config.key),
+    nt::EventFlags::kImmediate | nt::EventFlags::kValueAll,
+    [server](const auto& event) mutable {
+      if (auto data = event.GetValueEventData()) {
+        if (data->value.IsInteger()) {
+          int i = data->value.GetInteger();
+          if (i >= 0 && i < cameras.size()) server.SetSource(cameras[i]);
+        } else if (data->value.IsDouble()) {
+          int i = data->value.GetDouble();
+          if (i >= 0 && i < cameras.size()) server.SetSource(cameras[i]);
+        } else if (data->value.IsString()) {
+          auto str = data->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;
 }
@@ -280,7 +289,8 @@ int main(int argc, char* argv[]) {
     ntinst.StartServer();
   } else {
     fmt::print("Setting up NetworkTables client for team {}\n", team);
-    ntinst.StartClientTeam(team);
+    ntinst.StartClient4("multiCameraServer");
+    ntinst.SetServerTeam(team);
     ntinst.StartDSClient();
   }
 
diff --git a/deps/examples/java-multiCameraServer/src/main/java/Main.java b/deps/examples/java-multiCameraServer/src/main/java/Main.java
@@ -6,6 +6,7 @@
 import java.nio.file.Files;
 import java.nio.file.Paths;
 import java.util.ArrayList;
+import java.util.EnumSet;
 import java.util.List;
 
 import com.google.gson.Gson;
@@ -19,7 +20,7 @@
 import edu.wpi.first.cscore.MjpegServer;
 import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.cscore.VideoSource;
-import edu.wpi.first.networktables.EntryListenerFlags;
+import edu.wpi.first.networktables.NetworkTableEvent;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.vision.VisionPipeline;
 import edu.wpi.first.vision.VisionThread;
@@ -253,25 +254,33 @@ public static MjpegServer startSwitchedCamera(SwitchedCameraConfig config) {
     System.out.println("Starting switched camera '" + config.name + "' on " + config.key);
     MjpegServer server = CameraServer.getInstance().addSwitchedCamera(config.name);
 
-    NetworkTableInstance.getDefault()
-        .getEntry(config.key)
-        .addListener(event -> {
-              if (event.value.isDouble()) {
-                int i = (int) event.value.getDouble();
-                if (i >= 0 && i < cameras.size()) {
+    NetworkTableInstance inst = NetworkTableInstance.getDefault();
+    inst.addListener(
+        inst.getTopic(config.key),
+        EnumSet.of(NetworkTableEvent.Kind.kImmediate, NetworkTableEvent.Kind.kValueAll),
+        event -> {
+          if (event.valueData != null) {
+            if (event.valueData.value.isInteger()) {
+              int i = (int) event.valueData.value.getInteger();
+              if (i >= 0 && i < cameras.size()) {
+                server.setSource(cameras.get(i));
+              }
+            } else if (event.valueData.value.isDouble()) {
+              int i = (int) event.valueData.value.getDouble();
+              if (i >= 0 && i < cameras.size()) {
+                server.setSource(cameras.get(i));
+              }
+            } else if (event.valueData.value.isString()) {
+              String str = event.valueData.value.getString();
+              for (int i = 0; i < cameraConfigs.size(); i++) {
+                if (str.equals(cameraConfigs.get(i).name)) {
                   server.setSource(cameras.get(i));
-                }
-              } else if (event.value.isString()) {
-                String str = event.value.getString();
-                for (int i = 0; i < cameraConfigs.size(); i++) {
-                  if (str.equals(cameraConfigs.get(i).name)) {
-                    server.setSource(cameras.get(i));
-                    break;
-                  }
+                  break;
                 }
               }
-            },
-            EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+            }
+          }
+        });
 
     return server;
   }
@@ -308,7 +317,8 @@ public static void main(String... args) {
       ntinst.startServer();
     } else {
       System.out.println("Setting up NetworkTables client for team " + team);
-      ntinst.startClientTeam(team);
+      ntinst.startClient4();
+      ntinst.setServerTeam(team);
       ntinst.startDSClient();
     }
 
