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Add support for vision in C++

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Add IMAQdx and its dependencies

Change-Id: I6befa563e96db224db83fb90985c86eb3e8d4f3e

Add a "CameraServer" class for C++

This class allows the driver station's camera viewer to interact with
a C++ program.  It includes both an automatic mode to send images from
a webcam to the dashboard in a background thread, and an option to
manually feed it IMAQ images.

Change-Id: I54fdb164c00dce165859c22f435be647dc9927cc
This commit is contained in:
Thomas Clark
2014-10-29 13:38:43 -04:00
committed by Brad Miller
parent 0670ff145f
commit 6f4d6ed998
16 changed files with 960 additions and 2 deletions
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1
CMakeLists.txt
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@@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 2.8)
project(All-WPILib)
set(CMAKE_BUILD_TYPE Debug)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unused-parameter -fPIC")
SET(CMAKE_SKIP_BUILD_RPATH TRUE)
file(GLOB_RECURSE NI_LIBS ni-libraries/*.so*)
list(REMOVE_ITEM NI_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi.so ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi_2015.so)

1
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject
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@@ -41,6 +41,7 @@
<option id="gnu.cpp.link.option.paths.1566479969" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
<listOptionValue builtIn="false" value="&quot;${WPILIB}/cpp/current/lib&quot;"/>
</option>
<option id="gnu.cpp.link.option.flags.675338432" name="Linker flags" superClass="gnu.cpp.link.option.flags" value="-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a" valueType="string"/>
<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.132949138" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/>

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ni-libraries/libGCBase_gcc-4.4-arm_v2_3.so Executable file
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ni-libraries/libnivision.so Executable file
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ni-libraries/libwpi_2015.so
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@@ -1,3 +1,3 @@
/* GNU ld script */
OUTPUT_FORMAT(elf32-littlearm)
GROUP ( AS_NEEDED ( -lwpilib_nonshared -lHALAthena -lNetworkTables -lFRC_NetworkCommunication -li2c -lni_emb -lNiFpgaLv -lNiFpga -lnirio_emb_can -lNiRioSrv -lni_rtlog -lRoboRIO_FRC_ChipObject -lspi -lvisa -ldl -lpthread -lrt ) )
GROUP ( AS_NEEDED ( -lwpilib_nonshared -lHALAthena -lNetworkTables -lFRC_NetworkCommunication -li2c -lni_emb -lNiFpgaLv -lNiFpga -lnirio_emb_can -lNiRioSrv -lni_rtlog -lRoboRIO_FRC_ChipObject -lspi -lvisa -ldl -lpthread -lrt -lGCBase_gcc-4.4-arm_v2_3 -lGenApi_gcc-4.4-arm_v2_3 -lLog_gcc-4.4-arm_v2_3 -lMathParser_gcc-4.4-arm_v2_3 -llog4cpp_gcc-4.4-arm_v2_3 -lniimaqdx -lnivision -lnivissvc ) )

59
wpilibc/wpilibC++Devices/include/CameraServer.h Normal file
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@@ -0,0 +1,59 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "ErrorBase.h"
#include "nivision.h"
#include "NIIMAQdx.h"
#include <vector>
#include <thread>
#include <mutex>
#include <condition_variable>
/**
* Class that runs a TCP server that serves an M-JPEG stream to the dashboard.
*/
class CameraServer : public ErrorBase {
static constexpr uint16_t kPort = 1180;
static constexpr uint8_t kMagicNumber[] = { 0x01, 0x00, 0x00, 0x00 };
static constexpr uint32_t kSize640x480 = 0;
static constexpr uint32_t kSize320x240 = 1;
static constexpr uint32_t kSize160x120 = 2;
static constexpr int32_t kHardwareCompression = -1;
static constexpr char const *kDefaultCameraName = "cam1";
public:
static CameraServer *GetInstance();
void SetImage(Image const *image);
void StartAutomaticCapture(char const *cameraName = kDefaultCameraName);
void SetQuality(unsigned int quality);
unsigned int GetQuality() const;
protected:
CameraServer();
void serve();
std::thread m_serverThread;
std::recursive_mutex m_imageMutex;
std::condition_variable_any m_newImageReady;
std::vector<uint8_t> m_imageData;
unsigned int m_quality;
bool m_autoCaptureStarted;
struct Request {
uint32_t fps;
int32_t compression;
uint32_t size;
};
static CameraServer *s_instance;
};

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wpilibc/wpilibC++Devices/include/NIIMAQdx.h Normal file
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@@ -0,0 +1,646 @@
//==============================================================================
//
// Title : NIIMAQdx.h
// Created : 1403685834 seconds after 1/1/1970 12:00:00 UTC
// Copyright : © Copyright 2006, National Instruments Corporation, All rights reserved
// Purpose : Include file for NI-IMAQdx library support.
//
//==============================================================================
#ifndef ___niimaqdx_h___
#define ___niimaqdx_h___
#ifdef __cplusplus
extern "C" {
#endif
#if !defined(niimaqdx_types)
#define niimaqdx_types
#ifdef _CVI_
#pragma EnableLibraryRuntimeChecking
#endif
//==============================================================================
// Typedefs
//==============================================================================
#ifndef _NI_uInt8_DEFINED_
#define _NI_uInt8_DEFINED_
typedef unsigned char uInt8;
#endif
#ifndef _NI_uInt16_DEFINED_
#define _NI_uInt16_DEFINED_
typedef unsigned short int uInt16;
#endif
#ifndef _NI_uInt32_DEFINED_
#define _NI_uInt32_DEFINED_
#if defined(_MSC_VER)
typedef unsigned long uInt32;
#elif __GNUC__
#if __x86_64__
typedef unsigned int uInt32;
#else
typedef unsigned long uInt32;
#endif
#endif
#endif
#ifndef _NI_uInt64_DEFINED_
#define _NI_uInt64_DEFINED_
#if defined(_MSC_VER) || _CVI_ >= 700
typedef unsigned __int64 uInt64;
#elif __GNUC__
typedef unsigned long long uInt64;
#endif
#endif
#ifndef _NI_Int8_DEFINED_
#define _NI_Int8_DEFINED_
typedef char Int8;
#endif
#ifndef _NI_Int16_DEFINED_
#define _NI_Int16_DEFINED_
typedef short int Int16;
#endif
#ifndef _NI_Int32_DEFINED_
#define _NI_Int32_DEFINED_
#if defined(_MSC_VER)
typedef long Int32;
#elif __GNUC__
#if __x86_64__
typedef int Int32;
#else
typedef long Int32;
#endif
#endif
#endif
#ifndef _NI_Int64_DEFINED_
#define _NI_Int64_DEFINED_
#if defined(_MSC_VER) || _CVI_ >= 700
typedef __int64 Int64;
#elif __GNUC__
typedef long long int Int64;
#endif
#endif
#ifndef _NI_float32_DEFINED_
#define _NI_float32_DEFINED_
typedef float float32;
#endif
#ifndef _NI_float64_DEFINED_
#define _NI_float64_DEFINED_
typedef double float64;
#endif
#ifndef TRUE
#define TRUE (1L)
#endif
#ifndef FALSE
#define FALSE (0L)
#endif
#ifndef _NI_GUIDHNDL_DEFINED
typedef uInt32 GUIHNDL;
#endif
#if (defined(_MSC_VER) || defined(_CVI_))
#ifndef _NI_FUNC_DEFINED
#define NI_FUNC __stdcall
#endif
#ifndef _NI_FUNCC_DEFINED
#define NI_FUNCC __cdecl
#endif
#elif defined(__GNUC__)
#ifndef _NI_FUNC_DEFINED
#define NI_FUNC
#endif
#ifndef _NI_FUNCC_DEFINED
#define NI_FUNCC
#endif
#endif
#ifndef _NI_bool32_DEFINED_
#define _NI_bool32_DEFINED_
typedef uInt32 bool32;
#endif
#ifndef _NI_IMAQdxSession_DEFINED_
#define _NI_IMAQdxSession_DEFINED_
typedef uInt32 IMAQdxSession;
#endif
#define IMAQDX_MAX_API_STRING_LENGTH 512
//==============================================================================
// Forward Declare Data Structures
//==============================================================================
typedef struct Image_struct Image;
//==============================================================================
// Error Codes Enumeration
//==============================================================================
typedef enum IMAQdxError_enum {
IMAQdxErrorSuccess = 0x0, // Success
IMAQdxErrorSystemMemoryFull = 0xBFF69000, // Not enough memory
IMAQdxErrorInternal, // Internal error
IMAQdxErrorInvalidParameter, // Invalid parameter
IMAQdxErrorInvalidPointer, // Invalid pointer
IMAQdxErrorInvalidInterface, // Invalid camera session
IMAQdxErrorInvalidRegistryKey, // Invalid registry key
IMAQdxErrorInvalidAddress, // Invalid address
IMAQdxErrorInvalidDeviceType, // Invalid device type
IMAQdxErrorNotImplemented, // Not implemented
IMAQdxErrorCameraNotFound, // Camera not found
IMAQdxErrorCameraInUse, // Camera is already in use.
IMAQdxErrorCameraNotInitialized, // Camera is not initialized.
IMAQdxErrorCameraRemoved, // Camera has been removed.
IMAQdxErrorCameraRunning, // Acquisition in progress.
IMAQdxErrorCameraNotRunning, // No acquisition in progress.
IMAQdxErrorAttributeNotSupported, // Attribute not supported by the camera.
IMAQdxErrorAttributeNotSettable, // Unable to set attribute.
IMAQdxErrorAttributeNotReadable, // Unable to get attribute.
IMAQdxErrorAttributeOutOfRange, // Attribute value is out of range.
IMAQdxErrorBufferNotAvailable, // Requested buffer is unavailable.
IMAQdxErrorBufferListEmpty, // Buffer list is empty. Add one or more buffers.
IMAQdxErrorBufferListLocked, // Buffer list is already locked. Reconfigure acquisition and try again.
IMAQdxErrorBufferListNotLocked, // No buffer list. Reconfigure acquisition and try again.
IMAQdxErrorResourcesAllocated, // Transfer engine resources already allocated. Reconfigure acquisition and try again.
IMAQdxErrorResourcesUnavailable, // Insufficient transfer engine resources.
IMAQdxErrorAsyncWrite, // Unable to perform asychronous register write.
IMAQdxErrorAsyncRead, // Unable to perform asychronous register read.
IMAQdxErrorTimeout, // Timeout.
IMAQdxErrorBusReset, // Bus reset occurred during a transaction.
IMAQdxErrorInvalidXML, // Unable to load camera's XML file.
IMAQdxErrorFileAccess, // Unable to read/write to file.
IMAQdxErrorInvalidCameraURLString, // Camera has malformed URL string.
IMAQdxErrorInvalidCameraFile, // Invalid camera file.
IMAQdxErrorGenICamError, // Unknown Genicam error.
IMAQdxErrorFormat7Parameters, // For format 7: The combination of speed, image position, image size, and color coding is incorrect.
IMAQdxErrorInvalidAttributeType, // The attribute type is not compatible with the passed variable type.
IMAQdxErrorDLLNotFound, // The DLL could not be found.
IMAQdxErrorFunctionNotFound, // The function could not be found.
IMAQdxErrorLicenseNotActivated, // License not activated.
IMAQdxErrorCameraNotConfiguredForListener, // The camera is not configured properly to support a listener.
IMAQdxErrorCameraMulticastNotAvailable, // Unable to configure the system for multicast support.
IMAQdxErrorBufferHasLostPackets, // The requested buffer has lost packets and the user requested an error to be generated.
IMAQdxErrorGiGEVisionError, // Unknown GiGE Vision error.
IMAQdxErrorNetworkError, // Unknown network error.
IMAQdxErrorCameraUnreachable, // Unable to connect to the camera.
IMAQdxErrorHighPerformanceNotSupported, // High performance acquisition is not supported on the specified network interface. Connect the camera to a network interface running the high performance driver.
IMAQdxErrorInterfaceNotRenamed, // Unable to rename interface. Invalid or duplicate name specified.
IMAQdxErrorNoSupportedVideoModes, // The camera does not have any video modes which are supported.
IMAQdxErrorSoftwareTriggerOverrun, // Software trigger overrun.
IMAQdxErrorTestPacketNotReceived, // The system did not receive a test packet from the camera. The packet size may be too large for the network configuration or a firewall may be enabled.
IMAQdxErrorCorruptedImageReceived, // The camera returned a corrupted image.
IMAQdxErrorCameraConfigurationHasChanged, // The camera did not return an image of the correct type it was configured for previously.
IMAQdxErrorCameraInvalidAuthentication, // The camera is configured with password authentication and either the user name and password were not configured or they are incorrect.
IMAQdxErrorUnknownHTTPError, // The camera returned an unknown HTTP error.
IMAQdxErrorKernelDriverUnavailable, // Unable to attach to the kernel mode driver.
IMAQdxErrorPixelFormatDecoderUnavailable, // No decoder available for selected pixel format.
IMAQdxErrorFirmwareUpdateNeeded, // The acquisition hardware needs a firmware update before it can be used.
IMAQdxErrorFirmwareUpdateRebootNeeded, // The firmware on the acquisition hardware has been updated and the system must be rebooted before use.
IMAQdxErrorLightingCurrentOutOfRange, // The requested current level from the lighting controller is not possible.
IMAQdxErrorUSB3VisionError, // Unknown USB3 Vision error.
IMAQdxErrorInvalidU3VUSBDescriptor, // The camera has a USB descriptor that is incompatible with the USB3 Vision specification.
IMAQdxErrorU3VInvalidControlInterface, // The USB3 Vision control interface is not implemented or is invalid on this camera.
IMAQdxErrorU3VControlInterfaceError, // There was an error from the control interface of the USB3 Vision camera.
IMAQdxErrorU3VInvalidEventInterface, // The USB3 Vision event interface is not implemented or is invalid on this camera.
IMAQdxErrorU3VEventInterfaceError, // There was an error from the event interface of the USB3 Vision camera.
IMAQdxErrorU3VInvalidStreamInterface, // The USB3 Vision stream interface is not implemented or is invalid on this camera.
IMAQdxErrorU3VStreamInterfaceError, // There was an error from the stream interface of the USB3 Vision camera.
IMAQdxErrorU3VUnsupportedConnectionSpeed, // The USB connection speed is not supported by the camera. Check whether the camera is plugged into a USB 2.0 port instead of a USB 3.0 port. If so, verify that the camera supports this use case.
IMAQdxErrorU3VInsufficientPower, // The USB3 Vision camera requires more current than can be supplied by the USB port in use.
IMAQdxErrorU3VInvalidMaxCurrent, // The U3V_MaximumCurrentUSB20_mA registry value is not valid for the connected USB3 Vision camera.
IMAQdxErrorBufferIncompleteData, // The requested buffer has incomplete data and the user requested an error to be generated.
IMAQdxErrorCameraAcquisitionConfigFailed, // The camera returned an error starting the acquisition.
IMAQdxErrorCameraClosePending, // The camera still has outstanding references and will be closed when these operations complete.
IMAQdxErrorSoftwareFault, // An unexpected software error occurred.
IMAQdxErrorCameraPropertyInvalid, // The value for an invalid camera property was requested.
IMAQdxErrorJumboFramesNotEnabled, // Jumbo frames are not enabled on the host. Maximum packet size is 1500 bytes.
IMAQdxErrorBayerPixelFormatNotSelected, // This operation requires that the camera has a Bayer pixel format selected.
IMAQdxErrorGuard = 0xFFFFFFFF,
} IMAQdxError;
//==============================================================================
// Bus Type Enumeration
//==============================================================================
typedef enum IMAQdxBusType_enum {
IMAQdxBusTypeFireWire = 0x31333934,
IMAQdxBusTypeEthernet = 0x69707634,
IMAQdxBusTypeSimulator = 0x2073696D,
IMAQdxBusTypeDirectShow = 0x64736877,
IMAQdxBusTypeIP = 0x4950636D,
IMAQdxBusTypeSmartCam2 = 0x53436132,
IMAQdxBusTypeUSB3Vision = 0x55534233,
IMAQdxBusTypeUVC = 0x55564320,
IMAQdxBusTypeGuard = 0xFFFFFFFF,
} IMAQdxBusType;
//==============================================================================
// Camera Control Mode Enumeration
//==============================================================================
typedef enum IMAQdxCameraControlMode_enum {
IMAQdxCameraControlModeController,
IMAQdxCameraControlModeListener,
IMAQdxCameraControlModeGuard = 0xFFFFFFFF,
} IMAQdxCameraControlMode;
//==============================================================================
// Buffer Number Mode Enumeration
//==============================================================================
typedef enum IMAQdxBufferNumberMode_enum {
IMAQdxBufferNumberModeNext,
IMAQdxBufferNumberModeLast,
IMAQdxBufferNumberModeBufferNumber,
IMAQdxBufferNumberModeGuard = 0xFFFFFFFF,
} IMAQdxBufferNumberMode;
//==============================================================================
// Plug n Play Event Enumeration
//==============================================================================
typedef enum IMAQdxPnpEvent_enum {
IMAQdxPnpEventCameraAttached,
IMAQdxPnpEventCameraDetached,
IMAQdxPnpEventBusReset,
IMAQdxPnpEventGuard = 0xFFFFFFFF,
} IMAQdxPnpEvent;
//==============================================================================
// Bayer Pattern Enumeration
//==============================================================================
typedef enum IMAQdxBayerPattern_enum {
IMAQdxBayerPatternNone,
IMAQdxBayerPatternGB,
IMAQdxBayerPatternGR,
IMAQdxBayerPatternBG,
IMAQdxBayerPatternRG,
IMAQdxBayerPatternHardware,
IMAQdxBayerPatternGuard = 0xFFFFFFFF,
} IMAQdxBayerPattern;
//==============================================================================
// Bayer Decode Algorithm Enumeration
//==============================================================================
typedef enum IMAQdxBayerAlgorithm_enum {
IMAQdxBayerAlgorithmBilinear,
IMAQdxBayerAlgorithmVNG,
IMAQdxBayerAlgorithmGuard = 0xFFFFFFFF,
} IMAQdxBayerAlgorithm;
//==============================================================================
// Output Image Types -- Values match Vision Development Module image types
//==============================================================================
typedef enum IMAQdxOutputImageType_enum {
IMAQdxOutputImageTypeU8 = 0,
IMAQdxOutputImageTypeI16 = 1,
IMAQdxOutputImageTypeU16 = 7,
IMAQdxOutputImageTypeRGB32 = 4,
IMAQdxOutputImageTypeRGB64 = 6,
IMAQdxOutputImageTypeAuto = 0x7FFFFFFF,
IMAQdxOutputImageTypeGuard = 0xFFFFFFFF,
} IMAQdxOutputImageType;
//==============================================================================
// Controller Destination Mode Enumeration
//==============================================================================
typedef enum IMAQdxDestinationMode_enum {
IMAQdxDestinationModeUnicast,
IMAQdxDestinationModeBroadcast,
IMAQdxDestinationModeMulticast,
IMAQdxDestinationModeGuard = 0xFFFFFFFF,
} IMAQdxDestinationMode;
//==============================================================================
// Attribute Type Enumeration
//==============================================================================
typedef enum IMAQdxAttributeType_enum {
IMAQdxAttributeTypeU32,
IMAQdxAttributeTypeI64,
IMAQdxAttributeTypeF64,
IMAQdxAttributeTypeString,
IMAQdxAttributeTypeEnum,
IMAQdxAttributeTypeBool,
IMAQdxAttributeTypeCommand,
IMAQdxAttributeTypeBlob,
IMAQdxAttributeTypeGuard = 0xFFFFFFFF,
} IMAQdxAttributeType;
//==============================================================================
// Value Type Enumeration
//==============================================================================
typedef enum IMAQdxValueType_enum {
IMAQdxValueTypeU32,
IMAQdxValueTypeI64,
IMAQdxValueTypeF64,
IMAQdxValueTypeString,
IMAQdxValueTypeEnumItem,
IMAQdxValueTypeBool,
IMAQdxValueTypeDisposableString,
IMAQdxValueTypeGuard = 0xFFFFFFFF,
} IMAQdxValueType;
//==============================================================================
// Interface File Flags Enumeration
//==============================================================================
typedef enum IMAQdxInterfaceFileFlags_enum {
IMAQdxInterfaceFileFlagsConnected = 0x1,
IMAQdxInterfaceFileFlagsDirty = 0x2,
IMAQdxInterfaceFileFlagsGuard = 0xFFFFFFFF,
} IMAQdxInterfaceFileFlags;
//==============================================================================
// Overwrite Mode Enumeration
//==============================================================================
typedef enum IMAQdxOverwriteMode_enum {
IMAQdxOverwriteModeGetOldest = 0x0,
IMAQdxOverwriteModeFail = 0x2,
IMAQdxOverwriteModeGetNewest = 0x3,
IMAQdxOverwriteModeGuard = 0xFFFFFFFF,
} IMAQdxOverwriteMode;
//==============================================================================
// Incomplete Buffer Mode Enumeration
//==============================================================================
typedef enum IMAQdxIncompleteBufferMode_enum {
IMAQdxIncompleteBufferModeIgnore,
IMAQdxIncompleteBufferModeFail,
IMAQdxIncompleteBufferModeGuard = 0xFFFFFFFF,
} IMAQdxIncompleteBufferMode;
//==============================================================================
// Lost Packet Mode Enumeration
//==============================================================================
typedef enum IMAQdxLostPacketMode_enum {
IMAQdxLostPacketModeIgnore,
IMAQdxLostPacketModeFail,
IMAQdxLostPacketModeGuard = 0xFFFFFFFF,
} IMAQdxLostPacketMode;
//==============================================================================
// Attribute Visibility Enumeration
//==============================================================================
typedef enum IMAQdxAttributeVisibility_enum {
IMAQdxAttributeVisibilitySimple = 0x00001000,
IMAQdxAttributeVisibilityIntermediate = 0x00002000,
IMAQdxAttributeVisibilityAdvanced = 0x00004000,
IMAQdxAttributeVisibilityGuard = 0xFFFFFFFF,
} IMAQdxAttributeVisibility;
//==============================================================================
// Stream Channel Mode Enumeration
//==============================================================================
typedef enum IMAQdxStreamChannelMode_enum {
IMAQdxStreamChannelModeAutomatic,
IMAQdxStreamChannelModeManual,
IMAQdxStreamChannelModeGuard = 0xFFFFFFFF,
} IMAQdxStreamChannelMode;
//==============================================================================
// Pixel Signedness Enumeration
//==============================================================================
typedef enum IMAQdxPixelSignedness_enum {
IMAQdxPixelSignednessUnsigned,
IMAQdxPixelSignednessSigned,
IMAQdxPixelSignednessHardware,
IMAQdxPixelSignednessGuard = 0xFFFFFFFF,
} IMAQdxPixelSignedness;
//==============================================================================
// USB Connection Speed Enumeration
//==============================================================================
typedef enum IMAQdxUSBConnectionSpeed_enum {
IMAQdxUSBConnectionSpeedLow = 1,
IMAQdxUSBConnectionSpeedFull = 2,
IMAQdxUSBConnectionSpeedHigh = 4,
IMAQdxUSBConnectionSpeedSuper = 8,
IMAQdxUSBConnectionSpeedGuard = 0xFFFFFFFF,
} IMAQdxUSBConnectionSpeed;
//==============================================================================
// CVI Structures
//==============================================================================
#pragma pack(push, 4)
//==============================================================================
// Camera Information Structure
//==============================================================================
typedef struct IMAQdxCameraInformation_struct {
uInt32 Type;
uInt32 Version;
uInt32 Flags;
uInt32 SerialNumberHi;
uInt32 SerialNumberLo;
IMAQdxBusType BusType;
char InterfaceName[IMAQDX_MAX_API_STRING_LENGTH];
char VendorName[IMAQDX_MAX_API_STRING_LENGTH];
char ModelName[IMAQDX_MAX_API_STRING_LENGTH];
char CameraFileName[IMAQDX_MAX_API_STRING_LENGTH];
char CameraAttributeURL[IMAQDX_MAX_API_STRING_LENGTH];
} IMAQdxCameraInformation;
//==============================================================================
// Camera File Structure
//==============================================================================
typedef struct IMAQdxCameraFile_struct {
uInt32 Type;
uInt32 Version;
char FileName[IMAQDX_MAX_API_STRING_LENGTH];
} IMAQdxCameraFile;
//==============================================================================
// Attribute Information Structure
//==============================================================================
typedef struct IMAQdxAttributeInformation_struct {
IMAQdxAttributeType Type;
bool32 Readable;
bool32 Writable;
char Name[IMAQDX_MAX_API_STRING_LENGTH];
} IMAQdxAttributeInformation;
//==============================================================================
// Enumeration Item Structure
//==============================================================================
typedef struct IMAQdxEnumItem_struct {
uInt32 Value;
uInt32 Reserved;
char Name[IMAQDX_MAX_API_STRING_LENGTH];
} IMAQdxEnumItem;
//==============================================================================
// Camera Information Structure
//==============================================================================
typedef IMAQdxEnumItem IMAQdxVideoMode;
#pragma pack(pop)
//==============================================================================
// Callbacks
//==============================================================================
typedef uInt32 (NI_FUNC *FrameDoneEventCallbackPtr)(IMAQdxSession id, uInt32 bufferNumber, void* callbackData);
typedef uInt32 (NI_FUNC *PnpEventCallbackPtr)(IMAQdxSession id, IMAQdxPnpEvent pnpEvent, void* callbackData);
typedef void (NI_FUNC *AttributeUpdatedEventCallbackPtr)(IMAQdxSession id, const char* name, void* callbackData);
#endif //niimaqdx_types
//==============================================================================
// Attributes
//==============================================================================
#define IMAQdxAttributeBaseAddress "CameraInformation::BaseAddress" // Read only. Gets the base address of the camera registers.
#define IMAQdxAttributeBusType "CameraInformation::BusType" // Read only. Gets the bus type of the camera.
#define IMAQdxAttributeModelName "CameraInformation::ModelName" // Read only. Returns the model name.
#define IMAQdxAttributeSerialNumberHigh "CameraInformation::SerialNumberHigh" // Read only. Gets the upper 32-bits of the camera 64-bit serial number.
#define IMAQdxAttributeSerialNumberLow "CameraInformation::SerialNumberLow" // Read only. Gets the lower 32-bits of the camera 64-bit serial number.
#define IMAQdxAttributeVendorName "CameraInformation::VendorName" // Read only. Returns the vendor name.
#define IMAQdxAttributeHostIPAddress "CameraInformation::HostIPAddress" // Read only. Returns the host adapter IP address.
#define IMAQdxAttributeIPAddress "CameraInformation::IPAddress" // Read only. Returns the IP address.
#define IMAQdxAttributePrimaryURLString "CameraInformation::PrimaryURLString" // Read only. Gets the camera's primary URL string.
#define IMAQdxAttributeSecondaryURLString "CameraInformation::SecondaryURLString" // Read only. Gets the camera's secondary URL string.
#define IMAQdxAttributeAcqInProgress "StatusInformation::AcqInProgress" // Read only. Gets the current state of the acquisition. TRUE if acquiring; otherwise FALSE.
#define IMAQdxAttributeLastBufferCount "StatusInformation::LastBufferCount" // Read only. Gets the number of transferred buffers.
#define IMAQdxAttributeLastBufferNumber "StatusInformation::LastBufferNumber" // Read only. Gets the last cumulative buffer number transferred.
#define IMAQdxAttributeLostBufferCount "StatusInformation::LostBufferCount" // Read only. Gets the number of lost buffers during an acquisition session.
#define IMAQdxAttributeLostPacketCount "StatusInformation::LostPacketCount" // Read only. Gets the number of lost packets during an acquisition session.
#define IMAQdxAttributeRequestedResendPackets "StatusInformation::RequestedResendPacketCount" // Read only. Gets the number of packets requested to be resent during an acquisition session.
#define IMAQdxAttributeReceivedResendPackets "StatusInformation::ReceivedResendPackets" // Read only. Gets the number of packets that were requested to be resent during an acquisition session and were completed.
#define IMAQdxAttributeHandledEventCount "StatusInformation::HandledEventCount" // Read only. Gets the number of handled events during an acquisition session.
#define IMAQdxAttributeLostEventCount "StatusInformation::LostEventCount" // Read only. Gets the number of lost events during an acquisition session.
#define IMAQdxAttributeBayerGainB "AcquisitionAttributes::Bayer::GainB" // Sets/gets the white balance gain for the blue component of the Bayer conversion.
#define IMAQdxAttributeBayerGainG "AcquisitionAttributes::Bayer::GainG" // Sets/gets the white balance gain for the green component of the Bayer conversion.
#define IMAQdxAttributeBayerGainR "AcquisitionAttributes::Bayer::GainR" // Sets/gets the white balance gain for the red component of the Bayer conversion.
#define IMAQdxAttributeBayerPattern "AcquisitionAttributes::Bayer::Pattern" // Sets/gets the Bayer pattern to use.
#define IMAQdxAttributeStreamChannelMode "AcquisitionAttributes::Controller::StreamChannelMode" // Gets/sets the mode for allocating a FireWire stream channel.
#define IMAQdxAttributeDesiredStreamChannel "AcquisitionAttributes::Controller::DesiredStreamChannel" // Gets/sets the stream channel to manually allocate.
#define IMAQdxAttributeFrameInterval "AcquisitionAttributes::FrameInterval" // Read only. Gets the duration in milliseconds between successive frames.
#define IMAQdxAttributeIgnoreFirstFrame "AcquisitionAttributes::IgnoreFirstFrame" // Gets/sets the video delay of one frame between starting the camera and receiving the video feed.
#define IMAQdxAttributeOffsetX "OffsetX" // Gets/sets the left offset of the image.
#define IMAQdxAttributeOffsetY "OffsetY" // Gets/sets the top offset of the image.
#define IMAQdxAttributeWidth "Width" // Gets/sets the width of the image.
#define IMAQdxAttributeHeight "Height" // Gets/sets the height of the image.
#define IMAQdxAttributePixelFormat "PixelFormat" // Gets/sets the pixel format of the source sensor.
#define IMAQdxAttributePacketSize "PacketSize" // Gets/sets the packet size in bytes.
#define IMAQdxAttributePayloadSize "PayloadSize" // Gets/sets the frame size in bytes.
#define IMAQdxAttributeSpeed "AcquisitionAttributes::Speed" // Gets/sets the transfer speed in Mbps for a FireWire packet.
#define IMAQdxAttributeShiftPixelBits "AcquisitionAttributes::ShiftPixelBits" // Gets/sets the alignment of 16-bit cameras. Downshift the pixel bits if the camera returns most significant bit-aligned data.
#define IMAQdxAttributeSwapPixelBytes "AcquisitionAttributes::SwapPixelBytes" // Gets/sets the endianness of 16-bit cameras. Swap the pixel bytes if the camera returns little endian data.
#define IMAQdxAttributeOverwriteMode "AcquisitionAttributes::OverwriteMode" // Gets/sets the overwrite mode, used to determine acquisition when an image transfer cannot be completed due to an overwritten internal buffer.
#define IMAQdxAttributeTimeout "AcquisitionAttributes::Timeout" // Gets/sets the timeout value in milliseconds, used to abort an acquisition when the image transfer cannot be completed within the delay.
#define IMAQdxAttributeVideoMode "AcquisitionAttributes::VideoMode" // Gets/sets the video mode for a camera.
#define IMAQdxAttributeBitsPerPixel "AcquisitionAttributes::BitsPerPixel" // Gets/sets the actual bits per pixel. For 16-bit components, this represents the actual bit depth (10-, 12-, 14-, or 16-bit).
#define IMAQdxAttributePixelSignedness "AcquisitionAttributes::PixelSignedness" // Gets/sets the signedness of the pixel. For 16-bit components, this represents the actual pixel signedness (Signed, or Unsigned).
#define IMAQdxAttributeReserveDualPackets "AcquisitionAttributes::ReserveDualPackets" // Gets/sets if dual packets will be reserved for a very large FireWire packet.
#define IMAQdxAttributeReceiveTimestampMode "AcquisitionAttributes::ReceiveTimestampMode" // Gets/sets the mode for timestamping images received by the driver.
#define IMAQdxAttributeActualPeakBandwidth "AcquisitionAttributes::AdvancedEthernet::BandwidthControl::ActualPeakBandwidth" // Read only. Returns the actual maximum peak bandwidth the camera will be configured to use.
#define IMAQdxAttributeDesiredPeakBandwidth "AcquisitionAttributes::AdvancedEthernet::BandwidthControl::DesiredPeakBandwidth" // Gets/sets the desired maximum peak bandwidth the camera should use.
#define IMAQdxAttributeDestinationMode "AcquisitionAttributes::AdvancedEthernet::Controller::DestinationMode" // Gets/Sets where the camera is instructed to send the image stream.
#define IMAQdxAttributeDestinationMulticastAddress "AcquisitionAttributes::AdvancedEthernet::Controller::DestinationMulticastAddress" // Gets/Sets the multicast address the camera should send data in multicast mode.
#define IMAQdxAttributeEventsEnabled "AcquisitionAttributes::AdvancedEthernet::EventParameters::EventsEnabled" // Gets/Sets if events will be handled.
#define IMAQdxAttributeMaxOutstandingEvents "AcquisitionAttributes::AdvancedEthernet::EventParameters::MaxOutstandingEvents" // Gets/Sets the maximum number of outstanding events to queue.
#define IMAQdxAttributeTestPacketEnabled "AcquisitionAttributes::AdvancedEthernet::TestPacketParameters::TestPacketEnabled" // Gets/Sets whether the driver will validate the image streaming settings using test packets prior to an acquisition
#define IMAQdxAttributeTestPacketTimeout "AcquisitionAttributes::AdvancedEthernet::TestPacketParameters::TestPacketTimeout" // Gets/Sets the timeout for validating test packet reception (if enabled)
#define IMAQdxAttributeMaxTestPacketRetries "AcquisitionAttributes::AdvancedEthernet::TestPacketParameters::MaxTestPacketRetries" // Gets/Sets the number of retries for validating test packet reception (if enabled)
#define IMAQdxAttributeChunkDataDecodingEnabled "AcquisitionAttributes::ChunkDataDecoding::ChunkDataDecodingEnabled" // Gets/Sets whether the driver will decode any chunk data in the image stream
#define IMAQdxAttributeChunkDataDecodingMaxElementSize "AcquisitionAttributes::ChunkDataDecoding::MaximumChunkCopySize" // Gets/Sets the maximum size of any single chunk data element that will be made available
#define IMAQdxAttributeLostPacketMode "AcquisitionAttributes::AdvancedEthernet::LostPacketMode" // Gets/sets the behavior when the user extracts a buffer that has missing packets.
#define IMAQdxAttributeMemoryWindowSize "AcquisitionAttributes::AdvancedEthernet::ResendParameters::MemoryWindowSize" // Gets/sets the size of the memory window of the camera in kilobytes. Should match the camera's internal buffer size.
#define IMAQdxAttributeResendsEnabled "AcquisitionAttributes::AdvancedEthernet::ResendParameters::ResendsEnabled" // Gets/sets if resends will be issued for missing packets.
#define IMAQdxAttributeResendThresholdPercentage "AcquisitionAttributes::AdvancedEthernet::ResendParameters::ResendThresholdPercentage" // Gets/sets the threshold of the packet processing window that will trigger packets to be resent.
#define IMAQdxAttributeResendBatchingPercentage "AcquisitionAttributes::AdvancedEthernet::ResendParameters::ResendBatchingPercentage" // Gets/sets the percent of the packet resend threshold that will be issued as one group past the initial threshold sent in a single request.
#define IMAQdxAttributeMaxResendsPerPacket "AcquisitionAttributes::AdvancedEthernet::ResendParameters::MaxResendsPerPacket" // Gets/sets the maximum number of resend requests that will be issued for a missing packet.
#define IMAQdxAttributeResendResponseTimeout "AcquisitionAttributes::AdvancedEthernet::ResendParameters::ResendResponseTimeout" // Gets/sets the time to wait for a resend request to be satisfied before sending another.
#define IMAQdxAttributeNewPacketTimeout "AcquisitionAttributes::AdvancedEthernet::ResendParameters::NewPacketTimeout" // Gets/sets the time to wait for new packets to arrive in a partially completed image before assuming the rest of the image was lost.
#define IMAQdxAttributeMissingPacketTimeout "AcquisitionAttributes::AdvancedEthernet::ResendParameters::MissingPacketTimeout" // Gets/sets the time to wait for a missing packet before issuing a resend.
#define IMAQdxAttributeResendTimerResolution "AcquisitionAttributes::AdvancedEthernet::ResendParameters::ResendTimerResolution" // Gets/sets the resolution of the packet processing system that is used for all packet-related timeouts.
//==============================================================================
// Functions
//==============================================================================
IMAQdxError NI_FUNC IMAQdxSnap(IMAQdxSession id, Image* image);
IMAQdxError NI_FUNC IMAQdxConfigureGrab(IMAQdxSession id);
IMAQdxError NI_FUNC IMAQdxGrab(IMAQdxSession id, Image* image, bool32 waitForNextBuffer, uInt32* actualBufferNumber);
IMAQdxError NI_FUNC IMAQdxSequence(IMAQdxSession id, Image* images[], uInt32 count);
IMAQdxError NI_FUNC IMAQdxDiscoverEthernetCameras(const char* address, uInt32 timeout);
IMAQdxError NI_FUNC IMAQdxEnumerateCameras(IMAQdxCameraInformation cameraInformationArray[], uInt32* count, bool32 connectedOnly);
IMAQdxError NI_FUNC IMAQdxResetCamera(const char* name, bool32 resetAll);
IMAQdxError NI_FUNC IMAQdxOpenCamera(const char* name, IMAQdxCameraControlMode mode, IMAQdxSession* id);
IMAQdxError NI_FUNC IMAQdxCloseCamera(IMAQdxSession id);
IMAQdxError NI_FUNC IMAQdxConfigureAcquisition(IMAQdxSession id, bool32 continuous, uInt32 bufferCount);
IMAQdxError NI_FUNC IMAQdxStartAcquisition(IMAQdxSession id);
IMAQdxError NI_FUNC IMAQdxGetImage(IMAQdxSession id, Image* image, IMAQdxBufferNumberMode mode, uInt32 desiredBufferNumber, uInt32* actualBufferNumber);
IMAQdxError NI_FUNC IMAQdxGetImageData(IMAQdxSession id, void* buffer, uInt32 bufferSize, IMAQdxBufferNumberMode mode, uInt32 desiredBufferNumber, uInt32* actualBufferNumber);
IMAQdxError NI_FUNC IMAQdxStopAcquisition(IMAQdxSession id);
IMAQdxError NI_FUNC IMAQdxUnconfigureAcquisition(IMAQdxSession id);
IMAQdxError NI_FUNC IMAQdxEnumerateVideoModes(IMAQdxSession id, IMAQdxVideoMode videoModeArray[], uInt32* count, uInt32* currentMode);
IMAQdxError NI_FUNC IMAQdxEnumerateAttributes(IMAQdxSession id, IMAQdxAttributeInformation attributeInformationArray[], uInt32* count, const char* root);
IMAQdxError NI_FUNC IMAQdxGetAttribute(IMAQdxSession id, const char* name, IMAQdxValueType type, void* value);
IMAQdxError NI_FUNCC IMAQdxSetAttribute(IMAQdxSession id, const char* name, IMAQdxValueType type, ...);
IMAQdxError NI_FUNC IMAQdxGetAttributeMinimum(IMAQdxSession id, const char* name, IMAQdxValueType type, void* value);
IMAQdxError NI_FUNC IMAQdxGetAttributeMaximum(IMAQdxSession id, const char* name, IMAQdxValueType type, void* value);
IMAQdxError NI_FUNC IMAQdxGetAttributeIncrement(IMAQdxSession id, const char* name, IMAQdxValueType type, void* value);
IMAQdxError NI_FUNC IMAQdxGetAttributeType(IMAQdxSession id, const char* name, IMAQdxAttributeType* type);
IMAQdxError NI_FUNC IMAQdxIsAttributeReadable(IMAQdxSession id, const char* name, bool32* readable);
IMAQdxError NI_FUNC IMAQdxIsAttributeWritable(IMAQdxSession id, const char* name, bool32* writable);
IMAQdxError NI_FUNC IMAQdxEnumerateAttributeValues(IMAQdxSession id, const char* name, IMAQdxEnumItem list[], uInt32* size);
IMAQdxError NI_FUNC IMAQdxGetAttributeTooltip(IMAQdxSession id, const char* name, char* tooltip, uInt32 length);
IMAQdxError NI_FUNC IMAQdxGetAttributeUnits(IMAQdxSession id, const char* name, char* units, uInt32 length);
IMAQdxError NI_FUNC IMAQdxRegisterFrameDoneEvent(IMAQdxSession id, uInt32 bufferInterval, FrameDoneEventCallbackPtr callbackFunction, void* callbackData);
IMAQdxError NI_FUNC IMAQdxRegisterPnpEvent(IMAQdxSession id, IMAQdxPnpEvent event, PnpEventCallbackPtr callbackFunction, void* callbackData);
IMAQdxError NI_FUNC IMAQdxWriteRegister(IMAQdxSession id, uInt32 offset, uInt32 value);
IMAQdxError NI_FUNC IMAQdxReadRegister(IMAQdxSession id, uInt32 offset, uInt32* value);
IMAQdxError NI_FUNC IMAQdxWriteMemory(IMAQdxSession id, uInt32 offset, const char* values, uInt32 count);
IMAQdxError NI_FUNC IMAQdxReadMemory(IMAQdxSession id, uInt32 offset, char* values, uInt32 count);
IMAQdxError NI_FUNC IMAQdxGetErrorString(IMAQdxError error, char* message, uInt32 messageLength);
IMAQdxError NI_FUNC IMAQdxWriteAttributes(IMAQdxSession id, const char* filename);
IMAQdxError NI_FUNC IMAQdxReadAttributes(IMAQdxSession id, const char* filename);
IMAQdxError NI_FUNC IMAQdxResetEthernetCameraAddress(const char* name, const char* address, const char* subnet, const char* gateway, uInt32 timeout);
IMAQdxError NI_FUNC IMAQdxEnumerateAttributes2(IMAQdxSession id, IMAQdxAttributeInformation attributeInformationArray[], uInt32* count, const char* root, IMAQdxAttributeVisibility visibility);
IMAQdxError NI_FUNC IMAQdxGetAttributeVisibility(IMAQdxSession id, const char* name, IMAQdxAttributeVisibility* visibility);
IMAQdxError NI_FUNC IMAQdxGetAttributeDescription(IMAQdxSession id, const char* name, char* description, uInt32 length);
IMAQdxError NI_FUNC IMAQdxGetAttributeDisplayName(IMAQdxSession id, const char* name, char* displayName, uInt32 length);
IMAQdxError NI_FUNC IMAQdxDispose(void* buffer);
IMAQdxError NI_FUNC IMAQdxRegisterAttributeUpdatedEvent(IMAQdxSession id, const char* name, AttributeUpdatedEventCallbackPtr callbackFunction, void* callbackData);
IMAQdxError NI_FUNC IMAQdxEnumerateAttributes3(IMAQdxSession id, IMAQdxAttributeInformation attributeInformationArray[], uInt32* count, const char* root, IMAQdxAttributeVisibility visibility);
#ifdef __cplusplus
}
#endif
#endif // ___niimaqdx_h___

1
wpilibc/wpilibC++Devices/include/WPILib.h
View File

@@ -22,6 +22,7 @@
#include "Buttons/InternalButton.h"
#include "Buttons/JoystickButton.h"
#include "Buttons/NetworkButton.h"
#include "CameraServer.h"
#include "CANJaguar.h"
#include "Commands/Command.h"
#include "Commands/CommandGroup.h"

250
wpilibc/wpilibC++Devices/src/CameraServer.cpp Normal file
View File

@@ -0,0 +1,250 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014. 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. */
/*----------------------------------------------------------------------------*/
#include "CameraServer.h"
#include "ErrorBase.h"
#include "WPIErrors.h"
#include "Utility.h"
#include "Timer.h"
#include <iostream>
#include <algorithm>
#include <algorithm>
#include <cstring>
#include <sys/socket.h>
#include <unistd.h>
#include <netdb.h>
constexpr uint8_t CameraServer::kMagicNumber[];
CameraServer *CameraServer::s_instance = nullptr;
/**
* Singleton getter.
*/
CameraServer *CameraServer::GetInstance() {
if(s_instance == nullptr) {
s_instance = new CameraServer;
}
return s_instance;
}
CameraServer::CameraServer() :
m_serverThread(&CameraServer::serve, this),
m_quality(50),
m_autoCaptureStarted(false) {
}
/**
* Manually change the image that is served by the MJPEG stream. This can
* be called to pass custom annotated images to the dashboard. Note that, for
* 640x480 video, this method could take between 40 and 50 milliseconds to
* complete.
*
* This shouldn't be called if {@link #StartAutomaticCapture} is called.
*
* @param image The IMAQ image to show on the dashboard
*/
void CameraServer::SetImage(Image const *image) {std::unique_lock<std::recursive_mutex> lock(m_imageMutex);
/* Flatten the IMAQ image to a JPEG */
uint32_t dataSize;
uint8_t *data = (uint8_t *)imaqFlatten(image, IMAQ_FLATTEN_IMAGE, IMAQ_COMPRESSION_JPEG, 10 * m_quality, &dataSize);
/* Find the start of the JPEG data */
uint8_t *jpegData = data;
while(jpegData[0] != 0xff || jpegData[1] != 0xd8) {
jpegData++;
dataSize--;
wpi_assert(dataSize >= 2);
}
m_imageData.assign(dataSize, '\0');
std::copy(jpegData, jpegData + dataSize, m_imageData.begin());
/* Release the data from IMAQ */
imaqDispose(data);
m_newImageReady.notify_all();
}
/**
* Start automatically capturing images to send to the dashboard.
*
* You should call this method to just see a camera feed on the dashboard
* without doing any vision processing on the roboRIO. {@link #SetImage}
* shouldn't be called after this is called.
*
* @param cameraName The name of the camera interface (e.g. "cam1")
*/
void CameraServer::StartAutomaticCapture(char const *cameraName) {
if(m_autoCaptureStarted) {
wpi_setWPIErrorWithContext(IncompatibleState, "Automatic capture has already been started");
return;
}
/* Capturing images takes a lot of CPU time, since JPEG compression is
done in software, so this is done in a new thread. */
std::thread captureThread([cameraName, this] {
IMAQdxSession session;
IMAQdxError error;
Image *frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
error = IMAQdxOpenCamera(cameraName, IMAQdxCameraControlModeController, &session);
if(error != IMAQdxErrorSuccess) {
wpi_setImaqErrorWithContext(error, "IMAQdxOpenCamera");
}
error = IMAQdxConfigureGrab(session);
if(error != IMAQdxErrorSuccess) {
wpi_setImaqErrorWithContext(error, "IMAQdxConfigureGrab");
}
error = IMAQdxStartAcquisition(session);
if(error != IMAQdxErrorSuccess) {
wpi_setImaqErrorWithContext(error, "IMAQdxStartAcquisition");
}
/* In an infinite loop, wait for an image from the camera, then sent
it to the dashboard. */
for(;;) {
error = IMAQdxGrab(session, frame, true, NULL);
if(error != IMAQdxErrorSuccess) {
wpi_setImaqErrorWithContext(error, "IMAQdxGrab");
break;
}
SetImage(frame);
}
/* If something went wrong, close the session */
IMAQdxStopAcquisition(session);
IMAQdxCloseCamera(session);
});
captureThread.detach();
}
/**
* Set the quality of the compressed image sent to the dashboard
*
* @param quality The quality of the JPEG image, from 0 to 100
*/
void CameraServer::SetQuality(unsigned int quality) {
if(quality > 100) {
wpi_setWPIErrorWithContext(ParameterOutOfRange, "JPEG quality should be from 0 to 100");
return;
}
m_quality = quality;
}
/**
* Get the quality of the compressed image sent to the dashboard
*
* @return The quality, from 0 to 100
*/
unsigned int CameraServer::GetQuality() const {
return m_quality;
}
/**
* Run the M-JPEG server.
*
* This function listens for a connection from the dashboard in a background
* thread, then sends back the M-JPEG stream.
*/
void CameraServer::serve() {
int sock = socket(AF_INET, SOCK_STREAM, 0);
if(sock == -1) {
wpi_setErrnoError();
}
int reuseAddr = 1;
if(setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &reuseAddr, sizeof(reuseAddr)) == -1) {
wpi_setErrnoError();
}
sockaddr_in address, clientAddress;
memset(&address, 0, sizeof(address));
address.sin_family = AF_INET;
address.sin_addr.s_addr = htonl(INADDR_ANY);
address.sin_port = htons(kPort);
if(bind(sock, (struct sockaddr *)&address, sizeof(address)) == -1) {
wpi_setErrnoError();
}
if(listen(sock, 10) == -1) {
wpi_setErrnoError();
}
for(;;) {
socklen_t clientaddresslen = sizeof(clientAddress);
int conn = accept(sock, (struct sockaddr *)&clientAddress, &clientaddresslen);
/* Read the request from the dashboard */
Request req;
if(read(conn, &req, sizeof req) == -1) {
wpi_setErrnoError();
close(conn);
continue;
} else {
req.fps = ntohl(req.fps);
req.compression = ntohl(req.compression);
req.size = ntohl(req.size);
}
/* Only the "hardware compression" mode is supported from C++ */
if(req.compression != kHardwareCompression) {
wpi_setWPIErrorWithContext(IncompatibleState, "Choose \"USB Camera HW\" on the dashboard");
close(conn);
continue;
}
/* The period that frames are sent is 1/FPS */
auto period = std::chrono::microseconds(1000000) / req.fps;
for(;;) {
auto startTime = std::chrono::steady_clock::now();
{
std::unique_lock<std::recursive_mutex> lock(m_imageMutex);
m_newImageReady.wait(lock);
/* Send the magic number that indicates the beginning of a new image */
if(write(conn, kMagicNumber, sizeof kMagicNumber) == -1) {
break;
}
/* Send the size of this image */
uint32_t size = htonl(m_imageData.size());
if(write(conn, &size, sizeof size) == -1) {
m_imageMutex.unlock();
break;
}
/* Send the image data itself */
if(write(conn, m_imageData.data(), m_imageData.size()) == -1) {
break;
}
}
/* Sleep long enough to maintain a constant framerate */
std::this_thread::sleep_until(startTime + period);
}
close(conn);
}
close(sock);
}

2
wpilibc/wpilibC++IntegrationTests/CMakeLists.txt
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@@ -1,6 +1,8 @@
cmake_minimum_required(VERSION 2.8)
project(WPILibC++IntegrationTests)
SET(CMAKE_EXE_LINKER_FLAGS "-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a")
file(GLOB_RECURSE SRC_FILES src/*.cpp src/gtest/src/gtest-all.cc src/gtest/src/gtest_main.cc)
include_directories(include/ src/gtest/ src/gtest/include/ ../wpilibC++Devices/include/ ${WPILIB_INCLUDES} ${HAL_API_INCLUDES} ${NWT_API_INCLUDES})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -Wno-unused-variable")