def unregister(self, func: "H264CameraServer"):
try:
del self.pipelines[func.name]
if NT_AVAIL:
NetworkDict("/GStreamer").delete(func.name)
except KeyError:
pass
def __init__(self, visible=True):
self.visible = visible
self.app = Router()
if NT_AVAIL:
self.netdict = NetworkDict("/CameraPublisher")
self.funcs = {} # {name: route}
self.index_route = [
Route("/", LiteralTemplate(self.TEMPLATE, funcs=self.funcs.keys()))
]
self.listeners = {
"startup": set(),
"shutdown": set(),
"pipeline_update": set()
}
self._update()
class GetNT(PutNT):
def on_start(self):
self.table = NetworkDict(self.settings.path)
self.validate_paths()
def validate_paths(self):
try:
val = self.table[self.settings.key]
except KeyError:
raise ValueError(f"Key does {self.settings.key} not exist.")
@dataclass
class Inputs:
pass
@dataclass
class Outputs:
val: AnyType = None
def run(self, inputs):
val = self.table.get(self.settings.key, None)
if val is None:
HookInstance.cancel_output("val")
return self.Outputs()
return self.Outputs(val=val)
def register(self, func: "H264CameraServer"):
if func.name in self.pipelines:
raise ValueError("Cannot have duplicate name")
pipeline = func.pipeline
self.pipelines[func.name] = pipeline
if NT_AVAIL:
url = self.hook.url.split("/")[2].split(":")[0]
NetworkDict(f"/GStreamer/{func.name}")["/streams"] = [
f"rtsp://{url}:{self.port}/{func.name}",
]
class GetNT(PutNT):
def on_start(self):
self.table = NetworkDict(self.settings.path)
@dataclass
class Inputs:
pass
@dataclass
class Outputs:
val: AnyType = None
def run(self, inputs):
val = self.table.get(self.settings.key, None)
if val is None:
HookInstance.cancel_output("val")
return self.Outputs()
return self.Outputs(val=val)
class CamHook(Hook):
# Matches both "camera.mjpg" and "camera.mjpeg"
ROUTE_URL = "/{func}.mjpe?g" # Route to bind to
STREAM_URL = "/{func}.mjpeg" # Canonical path
TEMPLATE = jinja2.Template("""
<html>
<head>
<title>CameraServer: {{ funcs|length }}</title>
</head>
<body>
<h1>CameraServer</h1>
<ul>
{% for func in funcs %}
<li><a href=".URL">{{ func }}</a></li>
{% else %}
<li>None</li>
{% endfor %}
</ul>
</body>
</html>
""".replace("URL",
STREAM_URL.replace("{",
"{{ ").replace("}",
" }}")) # {func} --> {{ func }}
)
CAMERA_NAME = "OpenSight: {func}"
CAMERA_URL = f"mjpeg:{{url}}{STREAM_URL}?"
def __init__(self, visible=True):
self.visible = visible
self.app = Router()
if NT_AVAIL:
self.netdict = NetworkDict("/CameraPublisher")
self.funcs = {} # {name: route}
self.index_route = [
Route("/", LiteralTemplate(self.TEMPLATE, funcs=self.funcs.keys()))
]
self.listeners = {
"startup": set(),
"shutdown": set(),
"pipeline_update": set()
}
self._update()
def _update(self):
self.app.routes = self.index_route + list(self.funcs.values())
def endpoint(self, func):
def image(request):
return MjpegResponse(request, func.src.src)
return image
def register(self, func):
if func.id in self.funcs:
raise ValueError("Cannot have duplicate name")
self.funcs[func.id] = Route(self.ROUTE_URL.format(func=func.id),
self.endpoint(func))
self._update()
# https://github.com/wpilibsuite/allwpilib/blob/ec9738245d86ec5a535a7d9eb22eadc78dee88b4/wpilibj/src/main/java/edu/wpi/first/wpilibj/CameraServer.java#L313
if NT_AVAIL:
ntdict = self.netdict.get_subtable(
self.CAMERA_NAME.format(func=func.id))
ntdict["streams"] = [
self.CAMERA_URL.format(url=self.url, func=func.id)
]
def unregister(self, func):
try:
del self.funcs[func.id]
except KeyError:
pass
if NT_AVAIL:
self.netdict.delete_table(self.CAMERA_NAME.format(func=func.id))
self._update()
def on_start(self):
self.validate_paths()
self.table = NetworkDict(self.settings.path)
def on_start(self):
self.table = NetworkDict(self.settings.path)
