Add support for enumerating and changing USB camera video mode.

java/lib/CameraServerJNI.cpp

@@ -21,6 +21,7 @@ using namespace wpi::java;
 // Used for callback.
 static JavaVM *jvm = nullptr;
 static jclass usbCameraInfoCls = nullptr;
+static jclass videoModeCls = nullptr;
 
 extern "C" {
 
@@ -40,6 +41,12 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) {
   if (!usbCameraInfoCls) return JNI_ERR;
   env->DeleteLocalRef(local);
 
+  local = env->FindClass("edu/wpi/cameraserver/VideoMode");
+  if (!local) return JNI_ERR;
+  videoModeCls = static_cast<jclass>(env->NewGlobalRef(local));
+  if (!videoModeCls) return JNI_ERR;
+  env->DeleteLocalRef(local);
+
   return JNI_VERSION_1_6;
 }
 
@@ -49,6 +56,7 @@ JNIEXPORT void JNICALL JNI_OnUnload(JavaVM *vm, void *reserved) {
     return;
   // Delete global references
   if (usbCameraInfoCls) env->DeleteGlobalRef(usbCameraInfoCls);
+  if (videoModeCls) env->DeleteGlobalRef(videoModeCls);
   jvm = nullptr;
 }
 
@@ -73,6 +81,15 @@ static jobject MakeJObject(JNIEnv *env, const cs::USBCameraInfo &info) {
                         static_cast<jint>(info.dev), path.obj(), name.obj());
 }
 
+static jobject MakeJObject(JNIEnv *env, const cs::VideoMode &videoMode) {
+  static jmethodID constructor =
+      env->GetMethodID(videoModeCls, "<init>", "(IIII)V");
+  return env->NewObject(
+      videoModeCls, constructor, static_cast<jint>(videoMode.pixelFormat),
+      static_cast<jint>(videoMode.width), static_cast<jint>(videoMode.height),
+      static_cast<jint>(videoMode.fps));
+}
+
 extern "C" {
 
 /*
@@ -276,13 +293,19 @@ JNIEXPORT jint JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_createHTTPSourc
 /*
  * Class:     edu_wpi_cameraserver_CameraServerJNI
  * Method:    createCvSource
- * Signature: (Ljava/lang/String;)I
+ * Signature: (Ljava/lang/String;IIII)I
  */
 JNIEXPORT jint JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_createCvSource
-  (JNIEnv *env, jclass, jstring name)
+  (JNIEnv *env, jclass, jstring name, jint pixelFormat, jint width, jint height,
+   jint fps)
 {
   CS_Status status;
-  auto val = cs::CreateCvSource(JStringRef{env, name}, &status);
+  auto val = cs::CreateCvSource(
+      JStringRef{env, name},
+      cs::VideoMode{static_cast<cs::VideoMode::PixelFormat>(pixelFormat),
+                    static_cast<int>(width), static_cast<int>(height),
+                    static_cast<int>(fps)},
+      &status);
   CheckStatus(env, status);
   return val;
 }
@@ -374,6 +397,103 @@ JNIEXPORT jintArray JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_enumerateS
   return MakeJIntArray(env, arr);
 }
 
+/*
+ * Class:     edu_wpi_cameraserver_CameraServerJNI
+ * Method:    getSourceVideoMode
+ * Signature: (I)Ledu/wpi/cameraserver/VideoMode;
+ */
+JNIEXPORT jobject JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_getSourceVideoMode
+  (JNIEnv *env, jclass, jint source)
+{
+  CS_Status status;
+  auto val = cs::GetSourceVideoMode(source, &status);
+  if (!CheckStatus(env, status)) return nullptr;
+  return MakeJObject(env, val);
+}
+
+/*
+ * Class:     edu_wpi_cameraserver_CameraServerJNI
+ * Method:    setSourceVideoMode
+ * Signature: (IIIII)Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_setSourceVideoMode
+  (JNIEnv *env, jclass, jint source, jint pixelFormat, jint width, jint height,
+   jint fps)
+{
+  CS_Status status;
+  auto val = cs::SetSourceVideoMode(
+      source,
+      cs::VideoMode(static_cast<cs::VideoMode::PixelFormat>(pixelFormat), width,
+                    height, fps),
+      &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_cameraserver_CameraServerJNI
+ * Method:    setSourcePixelFormat
+ * Signature: (II)Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_setSourcePixelFormat
+  (JNIEnv *env, jclass, jint source, jint pixelFormat)
+{
+  CS_Status status;
+  auto val = cs::SetSourcePixelFormat(
+      source, static_cast<cs::VideoMode::PixelFormat>(pixelFormat), &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_cameraserver_CameraServerJNI
+ * Method:    setSourceResolution
+ * Signature: (III)Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_setSourceResolution
+  (JNIEnv *env, jclass, jint source, jint width, jint height)
+{
+  CS_Status status;
+  auto val = cs::SetSourceResolution(source, width, height, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_cameraserver_CameraServerJNI
+ * Method:    setSourceFPS
+ * Signature: (II)Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_setSourceFPS
+  (JNIEnv *env, jclass, jint source, jint fps)
+{
+  CS_Status status;
+  auto val = cs::SetSourceFPS(source, fps, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_cameraserver_CameraServerJNI
+ * Method:    enumerateSourceVideoModes
+ * Signature: (I)[Ledu/wpi/cameraserver/VideoMode;
+ */
+JNIEXPORT jobjectArray JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_enumerateSourceVideoModes
+  (JNIEnv *env, jclass, jint source)
+{
+  CS_Status status;
+  auto arr = cs::EnumerateSourceVideoModes(source, &status);
+  if (!CheckStatus(env, status)) return nullptr;
+  jobjectArray jarr =
+      env->NewObjectArray(arr.size(), videoModeCls, nullptr);
+  if (!jarr) return nullptr;
+  for (size_t i = 0; i < arr.size(); ++i) {
+    JLocal<jobject> jelem{env, MakeJObject(env, arr[i])};
+    env->SetObjectArrayElement(jarr, i, jelem);
+  }
+  return jarr;
+}
+
 /*
  * Class:     edu_wpi_cameraserver_CameraServerJNI
  * Method:    copySource

java/src/edu/wpi/cameraserver/CameraServerJNI.java

@@ -93,7 +93,7 @@ public class CameraServerJNI {
   public static native int createUSBSourceDev(String name, int dev);
   public static native int createUSBSourcePath(String name, String path);
   public static native int createHTTPSource(String name, String url);
-  public static native int createCvSource(String name);
+  public static native int createCvSource(String name, int pixelFormat, int width, int height, int fps);
 
   //
   // Source Functions
@@ -104,6 +104,12 @@ public class CameraServerJNI {
   public static native boolean isSourceConnected(int source);
   public static native int getSourceProperty(int source, String name);
   public static native int[] enumerateSourceProperties(int source);
+  public static native VideoMode getSourceVideoMode(int source);
+  public static native boolean setSourceVideoMode(int source, int pixelFormat, int width, int height, int fps);
+  public static native boolean setSourcePixelFormat(int source, int pixelFormat);
+  public static native boolean setSourceResolution(int source, int width, int height);
+  public static native boolean setSourceFPS(int source, int fps);
+  public static native VideoMode[] enumerateSourceVideoModes(int source);
   public static native int copySource(int source);
   public static native void releaseSource(int source);
 

java/src/edu/wpi/cameraserver/CvSource.java

@@ -11,8 +11,19 @@ package edu.wpi.cameraserver;
 public class CvSource extends VideoSource {
   /// Create an OpenCV source.
   /// @param name Source name (arbitrary unique identifier)
-  public CvSource(String name) {
-    super(CameraServerJNI.createCvSource(name));
+  /// @param mode Video mode being generated
+  public CvSource(String name, VideoMode mode) {
+    super(CameraServerJNI.createCvSource(name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
+  }
+
+  /// Create an OpenCV source.
+  /// @param name Source name (arbitrary unique identifier)
+  /// @param pixelFormat Pixel format
+  /// @param width width
+  /// @param height height
+  /// @param fps fps
+  public CvSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
+    super(CameraServerJNI.createCvSource(name, pixelFormat.getValue(), width, height, fps));
   }
 
   /// Put an OpenCV image and notify sinks.

java/src/edu/wpi/cameraserver/VideoMode.java

@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.cameraserver;
+
+/// Video mode
+public class VideoMode {
+  public enum PixelFormat {
+    kUnknown(0), kMJPEG(1), kYUYV(2), kRGB565(3);
+    private int value;
+
+    private PixelFormat(int value) {
+      this.value = value;
+    }
+
+    public int getValue() {
+      return value;
+    }
+  }
+  private static final PixelFormat[] m_pixelFormatValues = PixelFormat.values();
+
+  public VideoMode(int pixelFormat, int width, int height, int fps) {
+    this.pixelFormat = m_pixelFormatValues[pixelFormat];
+    this.width = width;
+    this.height = height;
+    this.fps = fps;
+  }
+
+  /// Pixel format
+  public PixelFormat pixelFormat;
+  /// Width in pixels
+  public int width;
+  /// Height in pixels
+  public int height;
+  /// Frames per second
+  public int fps;
+}

java/src/edu/wpi/cameraserver/VideoProperty.java

@@ -19,7 +19,7 @@ public class VideoProperty {
     public int getValue() {
       return value;
     }
-  };
+  }
   private static final Type[] m_typeValues = Type.values();
 
   public String getName() {

java/src/edu/wpi/cameraserver/VideoSource.java

@@ -65,6 +65,54 @@ public class VideoSource {
     return rv;
   }
 
+  /// Get the current video mode.
+  public VideoMode getVideoMode() {
+    return CameraServerJNI.getSourceVideoMode(m_handle);
+  }
+
+  /// Set the video mode.
+  /// @param mode Video mode
+  public boolean setVideoMode(VideoMode mode) {
+    return CameraServerJNI.setSourceVideoMode(m_handle, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps);
+  }
+
+  /// Set the video mode.
+  /// @param pixelFormat desired pixel format
+  /// @param width desired width
+  /// @param height desired height
+  /// @param fps desired FPS
+  /// @return True if set successfully
+  public boolean setVideoMode(VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
+    return CameraServerJNI.setSourceVideoMode(m_handle, pixelFormat.getValue(), width, height, fps);
+  }
+
+  /// Set the pixel format.
+  /// @param pixelFormat desired pixel format
+  /// @return True if set successfully
+  public boolean setPixelFormat(VideoMode.PixelFormat pixelFormat) {
+    return CameraServerJNI.setSourcePixelFormat(m_handle, pixelFormat.getValue());
+  }
+
+  /// Set the resolution.
+  /// @param width desired width
+  /// @param height desired height
+  /// @return True if set successfully
+  public boolean setResolution(int width, int height) {
+    return CameraServerJNI.setSourceResolution(m_handle, width, height);
+  }
+
+  /// Set the frames per second (FPS).
+  /// @param fps desired FPS
+  /// @return True if set successfully
+  public boolean setFPS(int fps) {
+    return CameraServerJNI.setSourceFPS(m_handle, fps);
+  }
+
+  /// Enumerate all known video modes for this source.
+  public VideoMode[] enumerateVideoModes() {
+    return CameraServerJNI.enumerateSourceVideoModes(m_handle);
+  }
+
   /// Enumerate all existing sources.
   /// @return Vector of sources.
   public static VideoSource[] enumerateSources() {