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[cscore] Use frame time in Linux UsbCameraImpl (#7609)

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This commit is contained in:
Matt
2025-01-07 09:33:20 -07:00
committed by GitHub
parent 8e459a4f2a
commit 2de03c9601
13 changed files with 267 additions and 29 deletions
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19
cscore/src/main/native/cpp/SourceImpl.cpp
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@@ -29,7 +29,7 @@ SourceImpl::SourceImpl(std::string_view name, wpi::Logger& logger,
m_notifier(notifier),
m_telemetry(telemetry),
m_name{name} {
m_frame = Frame{*this, std::string_view{}, 0};
m_frame = Frame{*this, std::string_view{}, 0, WPI_TIMESRC_UNKNOWN};
}
SourceImpl::~SourceImpl() {
@@ -95,7 +95,8 @@ Frame SourceImpl::GetNextFrame(double timeout, Frame::Time lastFrameTime) {
if (!m_frameCv.wait_for(
lock, std::chrono::milliseconds(static_cast<int>(timeout * 1000)),
[=, this] { return m_frame.GetTime() != lastFrameTime; })) {
m_frame = Frame{*this, "timed out getting frame", wpi::Now()};
m_frame = Frame{*this, "timed out getting frame", wpi::Now(),
WPI_TIMESRC_UNKNOWN};
}
return m_frame;
}
@@ -103,7 +104,7 @@ Frame SourceImpl::GetNextFrame(double timeout, Frame::Time lastFrameTime) {
void SourceImpl::Wakeup() {
{
std::scoped_lock lock{m_frameMutex};
m_frame = Frame{*this, std::string_view{}, 0};
m_frame = Frame{*this, std::string_view{}, 0, WPI_TIMESRC_UNKNOWN};
}
m_frameCv.notify_all();
}
@@ -463,7 +464,8 @@ std::unique_ptr<Image> SourceImpl::AllocImage(
}
void SourceImpl::PutFrame(VideoMode::PixelFormat pixelFormat, int width,
int height, std::string_view data, Frame::Time time) {
int height, std::string_view data, Frame::Time time,
WPI_TimestampSource timeSrc) {
if (pixelFormat == VideoMode::PixelFormat::kBGRA) {
// Write BGRA as BGR to save a copy
auto image =
@@ -480,10 +482,11 @@ void SourceImpl::PutFrame(VideoMode::PixelFormat pixelFormat, int width,
fmt::ptr(data.data()), data.size());
std::memcpy(image->data(), data.data(), data.size());
PutFrame(std::move(image), time);
PutFrame(std::move(image), time, timeSrc);
}
void SourceImpl::PutFrame(std::unique_ptr<Image> image, Frame::Time time) {
void SourceImpl::PutFrame(std::unique_ptr<Image> image, Frame::Time time,
WPI_TimestampSource timeSrc) {
// Update telemetry
m_telemetry.RecordSourceFrames(*this, 1);
m_telemetry.RecordSourceBytes(*this, static_cast<int>(image->size()));
@@ -491,7 +494,7 @@ void SourceImpl::PutFrame(std::unique_ptr<Image> image, Frame::Time time) {
// Update frame
{
std::scoped_lock lock{m_frameMutex};
m_frame = Frame{*this, std::move(image), time};
m_frame = Frame{*this, std::move(image), time, timeSrc};
}
// Signal listeners
@@ -502,7 +505,7 @@ void SourceImpl::PutError(std::string_view msg, Frame::Time time) {
// Update frame
{
std::scoped_lock lock{m_frameMutex};
m_frame = Frame{*this, msg, time};
m_frame = Frame{*this, msg, time, WPI_TIMESRC_UNKNOWN};
}
// Signal listeners