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Various header cleanups #8550

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816f3a9
[hal] Consistently use .hpp for C++ header content
PeterJohnson Jan 4, 2026
6d892d6
[wpiutil] Split C++ header files
PeterJohnson Jan 4, 2026
adbb242
[cscore] Split cscore classes into separate headers
PeterJohnson Jan 5, 2026
be04d03
[cscore,wpiutil] Move C++ PixelFormat from cscore to wpiutil
PeterJohnson Jan 5, 2026
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2 changes: 1 addition & 1 deletion apriltag/src/main/native/include/wpi/apriltag/AprilTag.hpp
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Expand Up @@ -5,7 +5,7 @@
#pragma once

#include "wpi/math/geometry/Pose3d.hpp"
#include "wpi/util/RawFrame.h"
#include "wpi/util/RawFrame.hpp"
#include "wpi/util/SymbolExports.hpp"
#include "wpi/util/json_fwd.hpp"

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22 changes: 12 additions & 10 deletions cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
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Expand Up @@ -13,6 +13,8 @@
#include <fmt/format.h>

#include "wpi/cameraserver/CameraServerShared.hpp"
#include "wpi/cs/VideoEvent.hpp"
#include "wpi/cs/VideoListener.hpp"
#include "wpi/nt/BooleanTopic.hpp"
#include "wpi/nt/IntegerTopic.hpp"
#include "wpi/nt/NetworkTable.hpp"
Expand Down Expand Up @@ -247,17 +249,17 @@ void Instance::UpdateStreamValues() {
}
}

static std::string PixelFormatToString(int pixelFormat) {
static std::string PixelFormatToString(wpi::util::PixelFormat pixelFormat) {
switch (pixelFormat) {
case cs::VideoMode::PixelFormat::kMJPEG:
case wpi::util::PixelFormat::kMJPEG:
return "MJPEG";
case cs::VideoMode::PixelFormat::kYUYV:
case wpi::util::PixelFormat::kYUYV:
return "YUYV";
case cs::VideoMode::PixelFormat::kRGB565:
case wpi::util::PixelFormat::kRGB565:
return "RGB565";
case cs::VideoMode::PixelFormat::kBGR:
case wpi::util::PixelFormat::kBGR:
return "BGR";
case cs::VideoMode::PixelFormat::kGray:
case wpi::util::PixelFormat::kGray:
return "Gray";
default:
return "Unknown";
Expand Down Expand Up @@ -506,7 +508,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
cs::MjpegServer CameraServer::AddSwitchedCamera(std::string_view name) {
auto& inst = ::GetInstance();
// create a dummy CvSource
cs::CvSource source{name, cs::VideoMode::PixelFormat::kMJPEG, 160, 120, 30};
cs::CvSource source{name, wpi::util::PixelFormat::kMJPEG, 160, 120, 30};
cs::MjpegServer server = StartAutomaticCapture(source);
inst.m_fixedSources[server.GetHandle()] = source.GetHandle();

Expand Down Expand Up @@ -568,7 +570,7 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
}

cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera,
cs::VideoMode::PixelFormat pixelFormat) {
wpi::util::PixelFormat pixelFormat) {
auto& inst = ::GetInstance();
wpi::util::SmallString<64> name{"opencv_"};
name += camera.GetName();
Expand Down Expand Up @@ -611,7 +613,7 @@ cs::CvSink CameraServer::GetVideo(std::string_view name) {
}

cs::CvSink CameraServer::GetVideo(std::string_view name,
cs::VideoMode::PixelFormat pixelFormat) {
wpi::util::PixelFormat pixelFormat) {
auto& inst = ::GetInstance();
cs::VideoSource source;
{
Expand All @@ -630,7 +632,7 @@ cs::CvSink CameraServer::GetVideo(std::string_view name,
cs::CvSource CameraServer::PutVideo(std::string_view name, int width,
int height) {
::GetInstance();
cs::CvSource source{name, cs::VideoMode::kMJPEG, width, height, 30};
cs::CvSource source{name, wpi::util::PixelFormat::kMJPEG, width, height, 30};
StartAutomaticCapture(source);
return source;
}
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13 changes: 7 additions & 6 deletions cameraserver/src/main/native/include/wpi/cameraserver/CameraServer.hpp
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Expand Up @@ -6,12 +6,13 @@

#include <stdint.h>

#include <span>
#include <string>
#include <string_view>
#include <vector>

#include "wpi/cs/cscore_cv.hpp"
#include "wpi/cs/CvSink.hpp"
#include "wpi/cs/CvSource.hpp"
#include "wpi/cs/MjpegServer.hpp"
#include "wpi/cs/UsbCamera.hpp"
#include "wpi/util/PixelFormat.hpp"

namespace wpi {

Expand Down Expand Up @@ -107,7 +108,7 @@ class CameraServer {
* camera
*/
static cs::CvSink GetVideo(const cs::VideoSource& camera,
cs::VideoMode::PixelFormat pixelFormat);
wpi::util::PixelFormat pixelFormat);

/**
* Get OpenCV access to the specified camera. This allows you to get
Expand All @@ -126,7 +127,7 @@ class CameraServer {
* camera
*/
static cs::CvSink GetVideo(std::string_view name,
cs::VideoMode::PixelFormat pixelFormat);
wpi::util::PixelFormat pixelFormat);

/**
* Create a MJPEG stream with OpenCV input. This can be called to pass custom
Expand Down
3 changes: 2 additions & 1 deletion cameraserver/src/main/native/include/wpi/vision/VisionRunner.hpp
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Expand Up @@ -8,7 +8,8 @@
#include <functional>
#include <memory>

#include "wpi/cs/cscore_cv.hpp"
#include "wpi/cs/CvSink.hpp"
#include "wpi/cs/VideoSource.hpp"
#include "wpi/vision/VisionPipeline.hpp"

namespace wpi::vision {
Expand Down
5 changes: 1 addition & 4 deletions commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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Expand Up @@ -15,10 +15,7 @@
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/framework/RobotBase.hpp"
#include "wpi/framework/TimedRobot.hpp"
#include "wpi/hal/HALBase.h"
#include "wpi/hal/UsageReporting.h"
#include "wpi/nt/IntegerArrayTopic.hpp"
#include "wpi/nt/StringArrayTopic.hpp"
#include "wpi/hal/UsageReporting.hpp"
#include "wpi/util/DenseMap.hpp"
#include "wpi/util/SmallVector.hpp"
#include "wpi/util/sendable/SendableBuilder.hpp"
Expand Down
8 changes: 4 additions & 4 deletions cscore/examples/enum_usb/enum_usb.cpp
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Expand Up @@ -4,7 +4,7 @@

#include <cstdio>

#include "wpi/cs/cscore.h"
#include "wpi/cs/UsbCamera.hpp"
#include "wpi/util/print.hpp"

int main() {
Expand Down Expand Up @@ -57,13 +57,13 @@ int main() {
for (const auto& mode : camera.EnumerateVideoModes()) {
const char* pixelFormat;
switch (mode.pixelFormat) {
case wpi::cs::VideoMode::kMJPEG:
case wpi::util::PixelFormat::kMJPEG:
pixelFormat = "MJPEG";
break;
case wpi::cs::VideoMode::kYUYV:
case wpi::util::PixelFormat::kYUYV:
pixelFormat = "YUYV";
break;
case wpi::cs::VideoMode::kRGB565:
case wpi::util::PixelFormat::kRGB565:
pixelFormat = "RGB565";
break;
default:
Expand Down
12 changes: 7 additions & 5 deletions cscore/examples/httpcvstream/httpcvstream.cpp
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Expand Up @@ -6,17 +6,19 @@

#include <opencv2/core/core.hpp>

#include "wpi/cs/cscore.h"
#include "wpi/cs/cscore_cv.hpp"
#include "wpi/cs/CvSink.hpp"
#include "wpi/cs/CvSource.hpp"
#include "wpi/cs/HttpCamera.hpp"
#include "wpi/cs/MjpegServer.hpp"
#include "wpi/util/print.hpp"

int main() {
wpi::cs::HttpCamera camera{"httpcam", "http://localhost:8081/?action=stream"};
camera.SetVideoMode(wpi::cs::VideoMode::kMJPEG, 320, 240, 30);
camera.SetVideoMode(wpi::util::PixelFormat::kMJPEG, 320, 240, 30);
wpi::cs::CvSink cvsink{"cvsink"};
cvsink.SetSource(camera);
wpi::cs::CvSource cvsource{"cvsource", wpi::cs::VideoMode::kMJPEG, 320, 240,
30};
wpi::cs::CvSource cvsource{"cvsource", wpi::util::PixelFormat::kMJPEG, 320,
240, 30};
wpi::cs::MjpegServer cvMjpegServer{"cvhttpserver", 8083};
cvMjpegServer.SetSource(cvsource);

Expand Down
2 changes: 1 addition & 1 deletion cscore/examples/settings/settings.cpp
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Expand Up @@ -6,7 +6,7 @@
#include <cstdio>
#include <thread>

#include "wpi/cs/cscore.h"
#include "wpi/cs/UsbCamera.hpp"
#include "wpi/util/StringExtras.hpp"
#include "wpi/util/print.hpp"

Expand Down
11 changes: 7 additions & 4 deletions cscore/examples/usbcvstream/usbcvstream.cpp
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Expand Up @@ -4,18 +4,21 @@

#include <opencv2/core/core.hpp>

#include "wpi/cs/cscore_cv.hpp"
#include "wpi/cs/CvSink.hpp"
#include "wpi/cs/CvSource.hpp"
#include "wpi/cs/MjpegServer.hpp"
#include "wpi/cs/UsbCamera.hpp"
#include "wpi/util/print.hpp"

int main() {
wpi::cs::UsbCamera camera{"usbcam", 0};
camera.SetVideoMode(wpi::cs::VideoMode::kMJPEG, 320, 240, 30);
camera.SetVideoMode(wpi::util::PixelFormat::kMJPEG, 320, 240, 30);
wpi::cs::MjpegServer mjpegServer{"httpserver", 8081};
mjpegServer.SetSource(camera);
wpi::cs::CvSink cvsink{"cvsink"};
cvsink.SetSource(camera);
wpi::cs::CvSource cvsource{"cvsource", wpi::cs::VideoMode::kMJPEG, 320, 240,
30};
wpi::cs::CvSource cvsource{"cvsource", wpi::util::PixelFormat::kMJPEG, 320,
240, 30};
wpi::cs::MjpegServer cvMjpegServer{"cvhttpserver", 8082};
cvMjpegServer.SetSource(cvsource);

Expand Down
7 changes: 5 additions & 2 deletions cscore/examples/usbstream/usbstream.cpp
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Expand Up @@ -4,7 +4,10 @@

#include <cstdio>

#include "wpi/cs/cscore.h"
#include "wpi/cs/MjpegServer.hpp"
#include "wpi/cs/RawEvent.hpp"
#include "wpi/cs/UsbCamera.hpp"
#include "wpi/cs/cscore_cpp.hpp"
#include "wpi/util/print.hpp"

int main() {
Expand All @@ -14,7 +17,7 @@ int main() {
wpi::util::print(" {}\n", addr);
}
wpi::cs::UsbCamera camera{"usbcam", 0};
camera.SetVideoMode(wpi::cs::VideoMode::kMJPEG, 320, 240, 30);
camera.SetVideoMode(wpi::util::PixelFormat::kMJPEG, 320, 240, 30);
wpi::cs::MjpegServer mjpegServer{"httpserver", 8081};
mjpegServer.SetSource(camera);

Expand Down
6 changes: 3 additions & 3 deletions cscore/examples/usbviewer/usbviewer.cpp
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Expand Up @@ -14,8 +14,8 @@
#include <opencv2/core/mat.hpp>
#include <opencv2/imgproc.hpp>

#include "wpi/cs/cscore.h"
#include "wpi/cs/cscore_cv.hpp"
#include "wpi/cs/CvSink.hpp"
#include "wpi/cs/UsbCamera.hpp"
#include "wpi/gui/wpigui.hpp"
#include "wpi/util/mutex.hpp"
#include "wpi/util/print.hpp"
Expand All @@ -31,7 +31,7 @@ int main() {
std::atomic<bool> stopCamera{false};

wpi::cs::UsbCamera camera{"usbcam", 0};
camera.SetVideoMode(wpi::cs::VideoMode::kMJPEG, 640, 480, 30);
camera.SetVideoMode(wpi::util::PixelFormat::kMJPEG, 640, 480, 30);
wpi::cs::CvSink cvsink{"cvsink"};
cvsink.SetSource(camera);

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2 changes: 1 addition & 1 deletion cscore/src/dev/native/cpp/main.cpp
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Expand Up @@ -2,7 +2,7 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include "wpi/cs/cscore.h"
#include "wpi/cs/cscore_cpp.hpp"
#include "wpi/util/print.hpp"

int main() {
Expand Down
3 changes: 2 additions & 1 deletion cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
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Expand Up @@ -10,7 +10,8 @@
#include "Handle.hpp"
#include "Instance.hpp"
#include "Notifier.hpp"
#include "wpi/util/timestamp.h"
#include "wpi/util/string.hpp"
#include "wpi/util/timestamp.hpp"

using namespace wpi::cs;

Expand Down
2 changes: 0 additions & 2 deletions cscore/src/main/native/cpp/ConfigurableSourceImpl.hpp
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Expand Up @@ -6,11 +6,9 @@

#include <atomic>
#include <functional>
#include <memory>
#include <span>
#include <string>
#include <string_view>
#include <vector>

#include "SourceImpl.hpp"

Expand Down
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