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cscore/src/main/native/cpp/Instance.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#ifndef CSCORE_INSTANCE_H_
+#define CSCORE_INSTANCE_H_
+
+#include <memory>
+#include <utility>
+
+#include <wpi/Logger.h>
+#include <wpinet/EventLoopRunner.h>
+
+#include "Log.h"
+#include "NetworkListener.h"
+#include "Notifier.h"
+#include "SinkImpl.h"
+#include "SourceImpl.h"
+#include "Telemetry.h"
+#include "UnlimitedHandleResource.h"
+#include "UsbCameraListener.h"
+
+namespace cs {
+
+struct SourceData {
+  SourceData(CS_SourceKind kind_, std::shared_ptr<SourceImpl> source_)
+      : kind{kind_}, refCount{0}, source{std::move(source_)} {}
+
+  CS_SourceKind kind;
+  std::atomic_int refCount;
+  std::shared_ptr<SourceImpl> source;
+};
+
+struct SinkData {
+  explicit SinkData(CS_SinkKind kind_, std::shared_ptr<SinkImpl> sink_)
+      : kind{kind_}, refCount{0}, sourceHandle{0}, sink{std::move(sink_)} {}
+
+  CS_SinkKind kind;
+  std::atomic_int refCount;
+  std::atomic<CS_Source> sourceHandle;
+  std::shared_ptr<SinkImpl> sink;
+};
+
+class Instance {
+ public:
+  Instance(const Instance&) = delete;
+  Instance& operator=(const Instance&) = delete;
+  ~Instance();
+
+  static Instance& GetInstance();
+
+  void Shutdown();
+
+  wpi::Logger logger;
+  Notifier notifier;
+  Telemetry telemetry;
+  NetworkListener networkListener;
+  UsbCameraListener usbCameraListener;
+
+ private:
+  UnlimitedHandleResource<Handle, SourceData, Handle::kSource> m_sources;
+  UnlimitedHandleResource<Handle, SinkData, Handle::kSink> m_sinks;
+
+ public:
+  wpi::EventLoopRunner eventLoop;
+
+  std::pair<CS_Sink, std::shared_ptr<SinkData>> FindSink(const SinkImpl& sink);
+  std::pair<CS_Source, std::shared_ptr<SourceData>> FindSource(
+      const SourceImpl& source);
+
+  void SetDefaultLogger();
+
+  std::shared_ptr<SourceData> GetSource(CS_Source handle) {
+    return m_sources.Get(handle);
+  }
+
+  std::shared_ptr<SinkData> GetSink(CS_Sink handle) {
+    return m_sinks.Get(handle);
+  }
+
+  CS_Source CreateSource(CS_SourceKind kind,
+                         std::shared_ptr<SourceImpl> source);
+
+  CS_Sink CreateSink(CS_SinkKind kind, std::shared_ptr<SinkImpl> sink);
+
+  void DestroySource(CS_Source handle);
+  void DestroySink(CS_Sink handle);
+
+  std::span<CS_Source> EnumerateSourceHandles(
+      wpi::SmallVectorImpl<CS_Source>& vec) {
+    return m_sources.GetAll(vec);
+  }
+
+  std::span<CS_Sink> EnumerateSinkHandles(wpi::SmallVectorImpl<CS_Sink>& vec) {
+    return m_sinks.GetAll(vec);
+  }
+
+  std::span<CS_Sink> EnumerateSourceSinks(CS_Source source,
+                                          wpi::SmallVectorImpl<CS_Sink>& vec) {
+    vec.clear();
+    m_sinks.ForEach([&](CS_Sink sinkHandle, const SinkData& data) {
+      if (source == data.sourceHandle.load()) {
+        vec.push_back(sinkHandle);
+      }
+    });
+    return vec;
+  }
+
+ private:
+  Instance();
+};
+
+}  // namespace cs
+
+#endif  // CSCORE_INSTANCE_H_