Add support for enumerating and changing USB camera video mode.

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() {