Skip to content

Fix CameraServer on SystemCore #189

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Aug 2, 2025
Merged

Fix CameraServer on SystemCore #189

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
ebe80f9
Fix CameraServer on SystemCore
auscompgeek Aug 2, 2025
1084b13
cscore: Remove --nt-protocol option
auscompgeek Aug 2, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 1 addition & 19 deletions subprojects/robotpy-cscore/cscore/__main__.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -82,13 +82,6 @@ def main():
nt_server_group.add_argument(
"--team", help="Team number to specify robot", type=int
)
parser.add_argument(
"--nt-protocol",
choices=[3, 4],
type=int,
help="NetworkTables protocol",
default=4,
)
parser.add_argument(
"--nt-identity", default="cscore", help="NetworkTables identity"
)
Expand Down Expand Up @@ -118,10 +111,7 @@ def main():
else:
ntinst.setServer(args.robot)

if args.nt_protocol == 3:
ntinst.startClient3(args.nt_identity)
else:
ntinst.startClient4(args.nt_identity)
ntinst.startClient(args.nt_identity)

# If stdin is a pipe, then die when the pipe goes away
# -> this allows us to detect if a parent process exits
Expand Down Expand Up @@ -159,12 +149,4 @@ def main():


if __name__ == "__main__":
# Setup wpi::now on roborio when executed as __main__
try:
from ._cscore import _setupWpiNow # type: ignore

_setupWpiNow()
except ImportError:
pass

main()
12 changes: 1 addition & 11 deletions subprojects/robotpy-cscore/cscore/src/main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,6 @@

#include "cscore_cpp.h"

#ifdef __FRC_SYSTEMCORE__
extern "C" {
void WPI_Impl_SetupNowUseDefaultOnRio(void);
}
#endif

SEMIWRAP_PYBIND11_MODULE(m) {
initWrapper(m);

Expand All @@ -22,8 +16,4 @@ SEMIWRAP_PYBIND11_MODULE(m) {
CS_Shutdown();
});
m.add_object("_cleanup", cleanup);

#ifdef __FRC_SYSTEMCORE__
m.def("_setupWpiNow", WPI_Impl_SetupNowUseDefaultOnRio);
#endif
}
}
4 changes: 2 additions & 2 deletions subprojects/robotpy-wpilib/wpilib/cameraserver.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -72,12 +72,12 @@ def launch(cls, vision_py: Optional[str] = None) -> None:
# who do not. cscore handle values indicate type with bits 24-30

if vision_py:
hal.reportUsage("RobotPy/CameraServer", vision_py)
if not vision_py.startswith("/"):
vision_py = "/home/systemcore/py/" + vision_py
args.append(vision_py)
hal.report(hal.tResourceType.kResourceType_PCVideoServer, 0x51)
else:
hal.report(hal.tResourceType.kResourceType_PCVideoServer, 0x52)
hal.reportUsage("RobotPy/CameraServer", "")

# We open a pipe to it so that when this process exits, it dies
proc = subprocess.Popen(
Expand Down
Loading