New 2018 and later build setup (#1001)

cameraserver/src/main/native/cpp/vision/VisionRunner.cpp

@@ -0,0 +1,88 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "vision/VisionRunner.h"
+
+#include <thread>
+
+#include <opencv2/core/mat.hpp>
+
+#include "CameraServerShared.h"
+
+using namespace frc;
+
+/**
+ * Creates a new vision runner. It will take images from the {@code
+ * videoSource}, and call the virtual DoProcess() method.
+ *
+ * @param videoSource the video source to use to supply images for the pipeline
+ */
+VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource)
+    : m_image(std::make_unique<cv::Mat>()),
+      m_cvSink("VisionRunner CvSink"),
+      m_enabled(true) {
+  m_cvSink.SetSource(videoSource);
+}
+
+// Located here and not in header due to cv::Mat forward declaration.
+VisionRunnerBase::~VisionRunnerBase() {}
+
+/**
+ * Runs the pipeline one time, giving it the next image from the video source
+ * specified in the constructor. This will block until the source either has an
+ * image or throws an error. If the source successfully supplied a frame, the
+ * pipeline's image input will be set, the pipeline will run, and the listener
+ * specified in the constructor will be called to notify it that the pipeline
+ * ran. This must be run in a dedicated thread, and cannot be used in the main
+ * robot thread because it will freeze the robot program.
+ *
+ * <p>This method is exposed to allow teams to add additional functionality or
+ * have their own ways to run the pipeline. Most teams, however, should just
+ * use {@link #runForever} in its own thread using a std::thread.</p>
+ */
+void VisionRunnerBase::RunOnce() {
+  auto csShared = frc::GetCameraServerShared();
+  auto res = csShared->GetRobotMainThreadId();
+  if (res.second && (std::this_thread::get_id() == res.first)) {
+    csShared->SetVisionRunnerError(
+        "VisionRunner::RunOnce() cannot be called from the main robot thread");
+    return;
+  }
+  auto frameTime = m_cvSink.GrabFrame(*m_image);
+  if (frameTime == 0) {
+    auto error = m_cvSink.GetError();
+    csShared->ReportDriverStationError(error);
+  } else {
+    DoProcess(*m_image);
+  }
+}
+
+/**
+ * A convenience method that calls {@link #runOnce()} in an infinite loop. This
+ * must be run in a dedicated thread, and cannot be used in the main robot
+ * thread because it will freeze the robot program.
+ *
+ * <strong>Do not call this method directly from the main thread.</strong>
+ */
+void VisionRunnerBase::RunForever() {
+  auto csShared = frc::GetCameraServerShared();
+  auto res = csShared->GetRobotMainThreadId();
+  if (res.second && (std::this_thread::get_id() == res.first)) {
+    csShared->SetVisionRunnerError(
+        "VisionRunner::RunForever() cannot be called from the main robot "
+        "thread");
+    return;
+  }
+  while (m_enabled) {
+    RunOnce();
+  }
+}
+
+/**
+ * Stop a RunForever() loop.
+ */
+void VisionRunnerBase::Stop() { m_enabled = false; }