allwpilib/cscore/src/main/native/cpp/RawSinkImpl.hpp

// Copyright (c) FIRST and other WPILib contributors.
// 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.

#pragma once

#include <stdint.h>

#include <atomic>
#include <functional>
#include <string_view>
#include <thread>

#include "Frame.hpp"
#include "SinkImpl.hpp"
#include "wpi/cs/cscore_raw.h"
#include "wpi/util/condition_variable.hpp"

namespace wpi::cs {

class SourceImpl;

class RawSinkImpl : public SinkImpl {
 public:
  RawSinkImpl(std::string_view name, wpi::util::Logger& logger,
              Notifier& notifier, Telemetry& telemetry);
  RawSinkImpl(std::string_view name, wpi::util::Logger& logger,
              Notifier& notifier, Telemetry& telemetry,
              std::function<void(uint64_t time)> processFrame);
  ~RawSinkImpl() override;

  void Stop();

  uint64_t GrabFrame(WPI_RawFrame& frame);
  uint64_t GrabFrame(WPI_RawFrame& frame, double timeout);
  // Wait for a frame with a time other than lastFrameTime
  uint64_t GrabFrame(WPI_RawFrame& frame, double timeout,
                     uint64_t lastFrameTime);

 private:
  void ThreadMain();

  // Copies the image from incomingFrame into rawFrame, converting where
  // necessary to the resolution of rawFrame
  uint64_t GrabFrameImpl(WPI_RawFrame& rawFrame, Frame& incomingFrame);

  std::atomic_bool m_active;  // set to false to terminate threads
  std::thread m_thread;
  std::function<void(uint64_t time)> m_processFrame;
};

}  // namespace wpi::cs