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cscore/src/main/native/cpp/SourceImpl.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_SOURCEIMPL_H_
+#define CSCORE_SOURCEIMPL_H_
+
+#include <atomic>
+#include <cstddef>
+#include <memory>
+#include <string>
+#include <string_view>
+#include <vector>
+
+#include <wpi/Logger.h>
+#include <wpi/RawFrame.h>
+#include <wpi/condition_variable.h>
+#include <wpi/json_fwd.h>
+#include <wpi/mutex.h>
+
+#include "Frame.h"
+#include "Handle.h"
+#include "Image.h"
+#include "PropertyContainer.h"
+#include "cscore_cpp.h"
+
+namespace cs {
+
+class Notifier;
+class Telemetry;
+
+class SourceImpl : public PropertyContainer {
+  friend class Frame;
+
+ public:
+  SourceImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+             Telemetry& telemetry);
+  ~SourceImpl() override;
+  SourceImpl(const SourceImpl& oth) = delete;
+  SourceImpl& operator=(const SourceImpl& oth) = delete;
+
+  virtual void Start() = 0;
+
+  std::string_view GetName() const { return m_name; }
+
+  void SetDescription(std::string_view description);
+  std::string_view GetDescription(wpi::SmallVectorImpl<char>& buf) const;
+
+  void SetConnectionStrategy(CS_ConnectionStrategy strategy) {
+    m_strategy = static_cast<int>(strategy);
+    NumSinksChanged();
+  }
+  bool IsEnabled() const {
+    return m_strategy == CS_CONNECTION_KEEP_OPEN ||
+           (m_strategy == CS_CONNECTION_AUTO_MANAGE && m_numSinksEnabled > 0);
+  }
+
+  // User-visible connection status
+  void SetConnected(bool connected);
+  bool IsConnected() const { return m_connected; }
+
+  // Functions to keep track of the overall number of sinks connected to this
+  // source.  Primarily used by sinks to determine if other sinks are using
+  // the same source.
+  int GetNumSinks() const { return m_numSinks; }
+  void AddSink() {
+    ++m_numSinks;
+    NumSinksChanged();
+  }
+  void RemoveSink() {
+    --m_numSinks;
+    NumSinksChanged();
+  }
+
+  // Functions to keep track of the number of sinks connected to this source
+  // that are "enabled", in other words, listening for new images.  Primarily
+  // used by sources to determine whether they should actually bother trying
+  // to get source frames.
+  int GetNumSinksEnabled() const { return m_numSinksEnabled; }
+
+  void EnableSink() {
+    ++m_numSinksEnabled;
+    NumSinksEnabledChanged();
+  }
+
+  void DisableSink() {
+    --m_numSinksEnabled;
+    NumSinksEnabledChanged();
+  }
+
+  // Gets the current frame time (without waiting for a new one).
+  uint64_t GetCurFrameTime();
+
+  // Gets the current frame (without waiting for a new one).
+  Frame GetCurFrame();
+
+  // Blocking function that waits for the next frame and returns it.
+  Frame GetNextFrame();
+
+  // Blocking function that waits for the next frame and returns it (with
+  // timeout in seconds).  If timeout expires, returns empty frame.
+  // If lastFrameTime==0, uses m_frame.GetTime() for lastFrameTime
+  Frame GetNextFrame(double timeout, Frame::Time lastFrameTime = 0);
+
+  // Force a wakeup of all GetNextFrame() callers by sending an empty frame.
+  void Wakeup();
+
+  // Standard common camera properties
+  virtual void SetBrightness(int brightness, CS_Status* status);
+  virtual int GetBrightness(CS_Status* status) const;
+  virtual void SetWhiteBalanceAuto(CS_Status* status);
+  virtual void SetWhiteBalanceHoldCurrent(CS_Status* status);
+  virtual void SetWhiteBalanceManual(int value, CS_Status* status);
+  virtual void SetExposureAuto(CS_Status* status);
+  virtual void SetExposureHoldCurrent(CS_Status* status);
+  virtual void SetExposureManual(int value, CS_Status* status);
+
+  // Video mode functions
+  VideoMode GetVideoMode(CS_Status* status) const;
+  virtual bool SetVideoMode(const VideoMode& mode, CS_Status* status) = 0;
+
+  // These have default implementations but can be overridden for custom
+  // or optimized behavior.
+  virtual bool SetPixelFormat(VideoMode::PixelFormat pixelFormat,
+                              CS_Status* status);
+  virtual bool SetResolution(int width, int height, CS_Status* status);
+  virtual bool SetFPS(int fps, CS_Status* status);
+
+  bool SetConfigJson(std::string_view config, CS_Status* status);
+  virtual bool SetConfigJson(const wpi::json& config, CS_Status* status);
+  std::string GetConfigJson(CS_Status* status);
+  virtual wpi::json GetConfigJsonObject(CS_Status* status);
+
+  std::vector<VideoMode> EnumerateVideoModes(CS_Status* status) const;
+
+  std::unique_ptr<Image> AllocImage(VideoMode::PixelFormat pixelFormat,
+                                    int width, int height, size_t size);
+
+ protected:
+  void NotifyPropertyCreated(int propIndex, PropertyImpl& prop) override;
+  void UpdatePropertyValue(int property, bool setString, int value,
+                           std::string_view valueStr) override;
+
+  void PutFrame(VideoMode::PixelFormat pixelFormat, int width, int height,
+                std::string_view data, Frame::Time time,
+                WPI_TimestampSource timeSrc = WPI_TIMESRC_FRAME_DEQUEUE);
+  void PutFrame(std::unique_ptr<Image> image, Frame::Time time,
+                WPI_TimestampSource timeSrc = WPI_TIMESRC_FRAME_DEQUEUE);
+  void PutError(std::string_view msg, Frame::Time time);
+
+  // Notification functions for corresponding atomics
+  virtual void NumSinksChanged() = 0;
+  virtual void NumSinksEnabledChanged() = 0;
+
+  std::atomic_int m_numSinks{0};
+
+ protected:
+  // Cached video modes (protected with m_mutex)
+  mutable std::vector<VideoMode> m_videoModes;
+  // Current video mode
+  mutable VideoMode m_mode;
+
+  wpi::Logger& m_logger;
+  Notifier& m_notifier;
+  Telemetry& m_telemetry;
+
+ private:
+  void ReleaseImage(std::unique_ptr<Image> image);
+  std::unique_ptr<Frame::Impl> AllocFrameImpl();
+  void ReleaseFrameImpl(std::unique_ptr<Frame::Impl> data);
+
+  std::string m_name;
+  std::string m_description;
+
+  std::atomic_int m_strategy{CS_CONNECTION_AUTO_MANAGE};
+  std::atomic_int m_numSinksEnabled{0};
+
+  wpi::mutex m_frameMutex;
+  wpi::condition_variable m_frameCv;
+
+  bool m_destroyFrames{false};
+
+  // Pool of frames/images to reduce malloc traffic.
+  wpi::mutex m_poolMutex;
+  std::vector<std::unique_ptr<Frame::Impl>> m_framesAvail;
+  std::vector<std::unique_ptr<Image>> m_imagesAvail;
+
+  std::atomic_bool m_connected{false};
+
+  // Most recent frame (returned to callers of GetNextFrame)
+  // Access protected by m_frameMutex.
+  // MUST be located below m_poolMutex as the Frame destructor calls back
+  // into SourceImpl::ReleaseImage, which locks m_poolMutex.
+  Frame m_frame;
+};
+
+}  // namespace cs
+
+#endif  // CSCORE_SOURCEIMPL_H_