mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
Switches to the new build system (#87)
* Removes old build system * Removes old gmock * Adds new gmock * Moves source files to new locations * Adds new build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
9d45088127
commit
133540f577
223
src/main/native/cpp/SourceImpl.h
Normal file
223
src/main/native/cpp/SourceImpl.h
Normal file
@@ -0,0 +1,223 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2016. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef CS_SOURCEIMPL_H_
|
||||
#define CS_SOURCEIMPL_H_
|
||||
|
||||
#include <atomic>
|
||||
#include <condition_variable>
|
||||
#include <cstddef>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include "llvm/ArrayRef.h"
|
||||
#include "llvm/StringMap.h"
|
||||
#include "llvm/StringRef.h"
|
||||
|
||||
#include "cscore_cpp.h"
|
||||
#include "Frame.h"
|
||||
#include "Image.h"
|
||||
#include "PropertyImpl.h"
|
||||
|
||||
namespace cs {
|
||||
|
||||
class SourceImpl {
|
||||
friend class Frame;
|
||||
|
||||
public:
|
||||
SourceImpl(llvm::StringRef name);
|
||||
virtual ~SourceImpl();
|
||||
SourceImpl(const SourceImpl& oth) = delete;
|
||||
SourceImpl& operator=(const SourceImpl& oth) = delete;
|
||||
|
||||
llvm::StringRef GetName() const { return m_name; }
|
||||
|
||||
void SetDescription(llvm::StringRef description);
|
||||
llvm::StringRef GetDescription(llvm::SmallVectorImpl<char>& buf) const;
|
||||
|
||||
void SetConnected(bool connected);
|
||||
bool IsConnected() const { return m_connected; }
|
||||
|
||||
// Functions to keep track of the overall number of sinks connected to this
|
||||
// source. Primarily used by sinks to determine if other sinks are using
|
||||
// the same source.
|
||||
int GetNumSinks() const { return m_numSinks; }
|
||||
void AddSink() {
|
||||
++m_numSinks;
|
||||
NumSinksChanged();
|
||||
}
|
||||
void RemoveSink() {
|
||||
--m_numSinks;
|
||||
NumSinksChanged();
|
||||
}
|
||||
|
||||
// Functions to keep track of the number of sinks connected to this source
|
||||
// that are "enabled", in other words, listening for new images. Primarily
|
||||
// used by sources to determine whether they should actually bother trying
|
||||
// to get source frames.
|
||||
int GetNumSinksEnabled() const { return m_numSinksEnabled; }
|
||||
|
||||
void EnableSink() {
|
||||
++m_numSinksEnabled;
|
||||
NumSinksEnabledChanged();
|
||||
}
|
||||
|
||||
void DisableSink() {
|
||||
--m_numSinksEnabled;
|
||||
NumSinksEnabledChanged();
|
||||
}
|
||||
|
||||
// Gets the current frame time (without waiting for a new one).
|
||||
uint64_t GetCurFrameTime();
|
||||
|
||||
// Gets the current frame (without waiting for a new one).
|
||||
Frame GetCurFrame();
|
||||
|
||||
// Blocking function that waits for the next frame and returns it.
|
||||
Frame GetNextFrame();
|
||||
|
||||
// Blocking function that waits for the next frame and returns it (with
|
||||
// timeout in seconds). If timeout expires, returns empty frame.
|
||||
Frame GetNextFrame(double timeout);
|
||||
|
||||
// Force a wakeup of all GetNextFrame() callers by sending an empty frame.
|
||||
void Wakeup();
|
||||
|
||||
// Property functions
|
||||
int GetPropertyIndex(llvm::StringRef name) const;
|
||||
llvm::ArrayRef<int> EnumerateProperties(llvm::SmallVectorImpl<int>& vec,
|
||||
CS_Status* status) const;
|
||||
CS_PropertyKind GetPropertyKind(int property) const;
|
||||
llvm::StringRef GetPropertyName(int property,
|
||||
llvm::SmallVectorImpl<char>& buf,
|
||||
CS_Status* status) const;
|
||||
int GetProperty(int property, CS_Status* status) const;
|
||||
virtual void SetProperty(int property, int value, CS_Status* status) = 0;
|
||||
int GetPropertyMin(int property, CS_Status* status) const;
|
||||
int GetPropertyMax(int property, CS_Status* status) const;
|
||||
int GetPropertyStep(int property, CS_Status* status) const;
|
||||
int GetPropertyDefault(int property, CS_Status* status) const;
|
||||
llvm::StringRef GetStringProperty(int property,
|
||||
llvm::SmallVectorImpl<char>& buf,
|
||||
CS_Status* status) const;
|
||||
virtual void SetStringProperty(int property, llvm::StringRef value,
|
||||
CS_Status* status) = 0;
|
||||
std::vector<std::string> GetEnumPropertyChoices(int property,
|
||||
CS_Status* status) const;
|
||||
|
||||
// Standard common camera properties
|
||||
virtual void SetBrightness(int brightness, CS_Status* status) = 0;
|
||||
virtual int GetBrightness(CS_Status* status) const = 0;
|
||||
virtual void SetWhiteBalanceAuto(CS_Status* status) = 0;
|
||||
virtual void SetWhiteBalanceHoldCurrent(CS_Status* status) = 0;
|
||||
virtual void SetWhiteBalanceManual(int value, CS_Status* status) = 0;
|
||||
virtual void SetExposureAuto(CS_Status* status) = 0;
|
||||
virtual void SetExposureHoldCurrent(CS_Status* status) = 0;
|
||||
virtual void SetExposureManual(int value, CS_Status* status) = 0;
|
||||
|
||||
// Video mode functions
|
||||
VideoMode GetVideoMode(CS_Status* status) const;
|
||||
virtual bool SetVideoMode(const VideoMode& mode, CS_Status* status) = 0;
|
||||
|
||||
// These have default implementations but can be overridden for custom
|
||||
// or optimized behavior.
|
||||
virtual bool SetPixelFormat(VideoMode::PixelFormat pixelFormat,
|
||||
CS_Status* status);
|
||||
virtual bool SetResolution(int width, int height, CS_Status* status);
|
||||
virtual bool SetFPS(int fps, CS_Status* status);
|
||||
|
||||
std::vector<VideoMode> EnumerateVideoModes(CS_Status* status) const;
|
||||
|
||||
std::unique_ptr<Image> AllocImage(VideoMode::PixelFormat pixelFormat,
|
||||
int width, int height, std::size_t size);
|
||||
|
||||
protected:
|
||||
void PutFrame(VideoMode::PixelFormat pixelFormat, int width, int height,
|
||||
llvm::StringRef data, Frame::Time time);
|
||||
void PutFrame(std::unique_ptr<Image> image, Frame::Time time);
|
||||
void PutError(llvm::StringRef msg, Frame::Time time);
|
||||
|
||||
// Notification functions for corresponding atomics
|
||||
virtual void NumSinksChanged() = 0;
|
||||
virtual void NumSinksEnabledChanged() = 0;
|
||||
|
||||
std::atomic_int m_numSinks{0};
|
||||
std::atomic_int m_numSinksEnabled{0};
|
||||
|
||||
protected:
|
||||
// Get a property; must be called with m_mutex held.
|
||||
PropertyImpl* GetProperty(int property) {
|
||||
if (property <= 0 || static_cast<size_t>(property) > m_propertyData.size())
|
||||
return nullptr;
|
||||
return m_propertyData[property - 1].get();
|
||||
}
|
||||
const PropertyImpl* GetProperty(int property) const {
|
||||
if (property <= 0 || static_cast<size_t>(property) > m_propertyData.size())
|
||||
return nullptr;
|
||||
return m_propertyData[property - 1].get();
|
||||
}
|
||||
|
||||
// Create an "empty" property. This is called by GetPropertyIndex to create
|
||||
// properties that don't exist (as GetPropertyIndex can't fail).
|
||||
// Note: called with m_mutex held.
|
||||
virtual std::unique_ptr<PropertyImpl> CreateEmptyProperty(
|
||||
llvm::StringRef name) const = 0;
|
||||
|
||||
// Cache properties. Implementations must return false and set status to
|
||||
// CS_SOURCE_IS_DISCONNECTED if not possible to cache.
|
||||
virtual bool CacheProperties(CS_Status* status) const = 0;
|
||||
|
||||
void NotifyPropertyCreated(int propIndex, PropertyImpl& prop);
|
||||
|
||||
// Update property value; must be called with m_mutex held.
|
||||
void UpdatePropertyValue(int property, bool setString, int value,
|
||||
llvm::StringRef valueStr);
|
||||
|
||||
// Cached properties and video modes (protected with m_mutex)
|
||||
mutable std::vector<std::unique_ptr<PropertyImpl>> m_propertyData;
|
||||
mutable llvm::StringMap<int> m_properties;
|
||||
mutable std::vector<VideoMode> m_videoModes;
|
||||
// Current video mode
|
||||
mutable VideoMode m_mode;
|
||||
// Whether CacheProperties() has been successful at least once (and thus
|
||||
// should not be called again)
|
||||
mutable std::atomic_bool m_properties_cached{false};
|
||||
|
||||
mutable std::mutex m_mutex;
|
||||
|
||||
private:
|
||||
void ReleaseImage(std::unique_ptr<Image> image);
|
||||
std::unique_ptr<Frame::Impl> AllocFrameImpl();
|
||||
void ReleaseFrameImpl(std::unique_ptr<Frame::Impl> data);
|
||||
|
||||
std::string m_name;
|
||||
std::string m_description;
|
||||
|
||||
std::mutex m_frameMutex;
|
||||
std::condition_variable m_frameCv;
|
||||
|
||||
bool m_destroyFrames{false};
|
||||
|
||||
// Pool of frames/images to reduce malloc traffic.
|
||||
std::mutex m_poolMutex;
|
||||
std::vector<std::unique_ptr<Frame::Impl>> m_framesAvail;
|
||||
std::vector<std::unique_ptr<Image>> m_imagesAvail;
|
||||
|
||||
std::atomic_bool m_connected{false};
|
||||
|
||||
// Most recent frame (returned to callers of GetNextFrame)
|
||||
// Access protected by m_frameMutex.
|
||||
// MUST be located below m_poolMutex as the Frame destructor calls back
|
||||
// into SourceImpl::ReleaseImage, which locks m_poolMutex.
|
||||
Frame m_frame;
|
||||
};
|
||||
|
||||
} // namespace cs
|
||||
|
||||
#endif // CS_SOURCEIMPL_H_
|
||||
Reference in New Issue
Block a user