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cscore/src/main/native/windows/UsbCameraImpl.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_USBCAMERAIMPL_H_
+#define CSCORE_USBCAMERAIMPL_H_
+
+#include <mfapi.h>
+#include <mfidl.h>
+#include <mfreadwrite.h>
+
+#include <ks.h>  // NOLINT(build/include_order)
+
+#include <ksmedia.h>  // NOLINT(build/include_order)
+
+#include <atomic>
+#include <memory>
+#include <string>
+#include <string_view>
+#include <thread>
+#include <utility>
+#include <vector>
+
+#include <Dbt.h>
+#include <wpi/SmallVector.h>
+#include <wpi/condition_variable.h>
+#include <wpi/mutex.h>
+#include <wpi/raw_istream.h>
+#include <wpi/raw_ostream.h>
+
+#include "ComCreators.h"
+#include "ComPtr.h"
+#include "SourceImpl.h"
+#include "UsbCameraProperty.h"
+#include "WindowsMessagePump.h"
+
+namespace cs {
+
+class UsbCameraImpl : public SourceImpl,
+                      public std::enable_shared_from_this<UsbCameraImpl> {
+ public:
+  UsbCameraImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+                Telemetry& telemetry, std::string_view path);
+  UsbCameraImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+                Telemetry& telemetry, int deviceId);
+  ~UsbCameraImpl() override;
+
+  void Start() override;
+
+  // Property functions
+  void SetProperty(int property, int value, CS_Status* status) override;
+  void SetStringProperty(int property, std::string_view value,
+                         CS_Status* status) override;
+
+  // Standard common camera properties
+  void SetBrightness(int brightness, CS_Status* status) override;
+  int GetBrightness(CS_Status* status) const override;
+  void SetWhiteBalanceAuto(CS_Status* status) override;
+  void SetWhiteBalanceHoldCurrent(CS_Status* status) override;
+  void SetWhiteBalanceManual(int value, CS_Status* status) override;
+  void SetExposureAuto(CS_Status* status) override;
+  void SetExposureHoldCurrent(CS_Status* status) override;
+  void SetExposureManual(int value, CS_Status* status) override;
+
+  bool SetVideoMode(const VideoMode& mode, CS_Status* status) override;
+  bool SetPixelFormat(VideoMode::PixelFormat pixelFormat,
+                      CS_Status* status) override;
+  bool SetResolution(int width, int height, CS_Status* status) override;
+  bool SetFPS(int fps, CS_Status* status) override;
+
+  void NumSinksChanged() override;
+  void NumSinksEnabledChanged() override;
+
+  void ProcessFrame(IMFSample* sample, const VideoMode& mode);
+  void PostRequestNewFrame();
+
+  void SetPath(std::string_view path, CS_Status* status);
+  std::string GetPath() const;
+
+  // Messages passed to/from camera thread
+  struct Message {
+    enum Kind {
+      kNone = 0,
+      kCmdSetPath,
+      kCmdSetMode,
+      kCmdSetPixelFormat,
+      kCmdSetResolution,
+      kCmdSetFPS,
+      kCmdSetProperty,
+      kCmdSetPropertyStr,
+      kNumSinksChanged,         // no response
+      kNumSinksEnabledChanged,  // no response
+      // Responses
+      kOk,
+      kError
+    };
+
+    explicit Message(Kind kind_)
+        : kind(kind_), from(std::this_thread::get_id()) {}
+
+    Kind kind;
+    int data[4]{0};
+    std::string dataStr;
+    std::thread::id from;
+  };
+
+ protected:
+  std::unique_ptr<PropertyImpl> CreateEmptyProperty(
+      std::string_view name) const override;
+
+  // Cache properties.  Immediately successful if properties are already cached.
+  // If they are not, tries to connect to the camera to do so; returns false and
+  // sets status to CS_SOURCE_IS_DISCONNECTED if that too fails.
+  bool CacheProperties(CS_Status* status) const override;
+
+ private:
+  LRESULT PumpMain(HWND hwnd, UINT uiMsg, WPARAM wParam, LPARAM lParam);
+
+  bool CheckDeviceChange(WPARAM wParam, DEV_BROADCAST_HDR* pHdr,
+                         bool* connected);
+
+  // Functions used by CameraThreadMain()
+  void DeviceDisconnect();
+  bool DeviceConnect();
+  bool DeviceStreamOn();
+  bool DeviceStreamOff();
+  CS_StatusValue DeviceSetMode();
+  void DeviceCacheMode();
+  void DeviceCacheProperty(std::unique_ptr<UsbCameraProperty> rawProp,
+                           IMFSourceReader* sourceReader);
+  void DeviceCacheProperties();
+  void DeviceCacheVideoModes();
+  template <typename TagProperty, typename IAM>
+  void DeviceAddProperty(std::string_view name_, TagProperty tag,
+                         IAM* pProcAmp);
+
+  ComPtr<IMFMediaType> DeviceCheckModeValid(const VideoMode& toCheck);
+
+  // Command helper functions
+  CS_StatusValue DeviceProcessCommand(std::unique_lock<wpi::mutex>& lock,
+                                      Message::Kind msgKind,
+                                      const Message* msg);
+  CS_StatusValue DeviceCmdSetMode(std::unique_lock<wpi::mutex>& lock,
+                                  const Message& msg);
+  CS_StatusValue DeviceCmdSetProperty(std::unique_lock<wpi::mutex>& lock,
+                                      const Message& msg);
+
+  // Property helper functions
+  int RawToPercentage(const UsbCameraProperty& rawProp, int rawValue);
+  int PercentageToRaw(const UsbCameraProperty& rawProp, int percentValue);
+
+  void StartMessagePump();
+
+  //
+  // Variables only used within camera thread
+  //
+  bool m_streaming{false};
+  bool m_wasStreaming{false};
+  bool m_modeSet{false};
+  int m_connectVerbose{1};
+  bool m_deviceValid{false};
+
+  ComPtr<IMFMediaSource> m_mediaSource;
+  ComPtr<IMFSourceReader> m_sourceReader;
+  ComPtr<SourceReaderCB> m_imageCallback;
+  std::unique_ptr<cs::WindowsMessagePump> m_messagePump;
+  ComPtr<IMFMediaType> m_currentMode;
+
+  std::string m_path;
+
+  std::wstring m_widePath;
+  int m_deviceId;
+
+  std::vector<std::pair<VideoMode, ComPtr<IMFMediaType>>> m_windowsVideoModes;
+};
+
+}  // namespace cs
+
+#endif  // CSCORE_USBCAMERAIMPL_H_