Merge pull request #189 from auscompgeek/2027-cscore

Fix CameraServer on SystemCore

Author: virtuald

subprojects/robotpy-cscore/cscore/__main__.py

@@ -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"
     )
@@ -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
@@ -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()

subprojects/robotpy-cscore/cscore/src/main.cpp

@@ -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);
 
@@ -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
-}
+}

subprojects/robotpy-wpilib/wpilib/cameraserver.py

@@ -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(