robotpy-cscore 2027.0.0a3__cp314-cp314-manylinux_2_35_aarch64.whl

cscore/__init__.py

@@ -0,0 +1,59 @@
+from . import _init__cscore
+
+# autogenerated by 'semiwrap create-imports cscore cscore._cscore'
+from ._cscore import (
+    AxisCamera,
+    CameraServer,
+    CvSink,
+    CvSource,
+    HttpCamera,
+    ImageSink,
+    ImageSource,
+    MjpegServer,
+    RawEvent,
+    UsbCamera,
+    UsbCameraInfo,
+    VideoCamera,
+    VideoEvent,
+    VideoListener,
+    VideoMode,
+    VideoProperty,
+    VideoSink,
+    VideoSource,
+    runMainRunLoop,
+    runMainRunLoopTimeout,
+    stopMainRunLoop,
+)
+
+__all__ = [
+    "AxisCamera",
+    "CameraServer",
+    "CvSink",
+    "CvSource",
+    "HttpCamera",
+    "ImageSink",
+    "ImageSource",
+    "MjpegServer",
+    "RawEvent",
+    "UsbCamera",
+    "UsbCameraInfo",
+    "VideoCamera",
+    "VideoEvent",
+    "VideoListener",
+    "VideoMode",
+    "VideoProperty",
+    "VideoSink",
+    "VideoSource",
+    "runMainRunLoop",
+    "runMainRunLoopTimeout",
+    "stopMainRunLoop",
+]
+
+from ._logging import enableLogging
+
+__all__.append("enableLogging")
+
+try:
+    from .version import __version__
+except ImportError:
+    __version__ = "master"

cscore/__main__.py

@@ -0,0 +1,152 @@
+import argparse
+import importlib.machinery
+import os
+import logging
+from os.path import abspath, basename, dirname, splitext
+import stat
+import sys
+import threading
+
+from ntcore import NetworkTableInstance
+
+log_datefmt = "%H:%M:%S"
+log_format = "%(asctime)s:%(msecs)03d %(levelname)-8s: %(name)-20s: %(message)s"
+
+logger = logging.getLogger("cscore")
+
+
+def _parent_poll_thread() -> None:
+    """Kills process if input disappears"""
+    from ._cscore import stopMainRunLoop
+
+    try:
+        while True:
+            if not sys.stdin.read():
+                break
+    except Exception:
+        pass
+
+    stopMainRunLoop()
+
+
+def _run_user_thread(vision_py: str, vision_fn: str) -> None:
+    vision_pymod = splitext(basename(vision_py))[0]
+
+    logger.info("Loading %s (%s)", vision_py, vision_fn)
+
+    sys.path.insert(0, dirname(vision_py))
+
+    loader = importlib.machinery.SourceFileLoader(vision_pymod, vision_py)
+    vision_module = loader.load_module(vision_pymod)
+
+    try:
+        obj = getattr(vision_module, vision_fn)
+
+        # If the object has a 'process' function, then we assume
+        # that it is a GRIP-generated pipeline, so launch it via the
+        # GRIP shim
+        if hasattr(obj, "process"):
+            logger.info("-> Detected GRIP-compatible object")
+
+            from . import grip
+
+            grip.run(obj)
+        else:
+            # otherwise just call it
+            obj()
+
+    except Exception:
+        logger.exception("%s exited unexpectedly", vision_py)
+    finally:
+        logger.warning("%s exited", vision_py)
+
+        from ._cscore import stopMainRunLoop
+
+        stopMainRunLoop()
+
+
+def main():
+    parser = argparse.ArgumentParser()
+
+    parser.add_argument(
+        "-v",
+        "--verbose",
+        action="store_true",
+        default=False,
+        help="Enable debug logging",
+    )
+    nt_server_group = parser.add_mutually_exclusive_group()
+    nt_server_group.add_argument(
+        "--robot", help="Robot's IP address", default="127.0.0.1"
+    )
+    nt_server_group.add_argument(
+        "--team", help="Team number to specify robot", type=int
+    )
+    parser.add_argument(
+        "--nt-identity", default="cscore", help="NetworkTables identity"
+    )
+    parser.add_argument(
+        "vision_py",
+        nargs="?",
+        help="A string indicating the filename and object/function to call"
+        " (ex: vision.py:main)",
+    )
+
+    args = parser.parse_args()
+
+    # initialize logging first
+    log_level = logging.DEBUG if args.verbose else logging.INFO
+
+    logging.basicConfig(datefmt=log_datefmt, format=log_format, level=log_level)
+
+    # Enable cscore python logging
+    from ._logging import enableLogging
+
+    enableLogging(level=log_level)
+
+    # Initialize NetworkTables next
+    ntinst = NetworkTableInstance.getDefault()
+    if args.team:
+        ntinst.setServerTeam(args.team)
+    else:
+        ntinst.setServer(args.robot)
+
+    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
+    if stat.S_ISFIFO(os.fstat(0).st_mode):
+        t = threading.Thread(target=_parent_poll_thread, name="lifetime", daemon=True)
+        t.start()
+
+    # If no python file specified, then just start the automatic capture
+    if args.vision_py is None:
+        from ._cscore import CameraServer
+
+        CameraServer.startAutomaticCapture()
+    else:
+        s = args.vision_py.split(":", 1)
+        vision_py = abspath(s[0])
+        vision_fn = "main" if len(s) == 1 else s[1]
+
+        thread = threading.Thread(
+            target=_run_user_thread,
+            args=(vision_py, vision_fn),
+            name="vision",
+            daemon=True,
+        )
+        thread.start()
+
+    try:
+        from ._cscore import runMainRunLoopTimeout
+
+        SIGNALED = 2
+        while runMainRunLoopTimeout(1) != SIGNALED:
+            pass
+
+    finally:
+        logger.warning("cscore exiting")
+
+
+if __name__ == "__main__":
+    main()