New 2018 and later build setup (#1001)

cameraserver/src/main/native/include/vision/VisionRunner.h

@@ -0,0 +1,68 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <atomic>
+#include <functional>
+#include <memory>
+
+#include "cscore.h"
+#include "vision/VisionPipeline.h"
+
+namespace frc {
+
+/**
+ * Non-template base class for VisionRunner.
+ */
+class VisionRunnerBase {
+ public:
+  explicit VisionRunnerBase(cs::VideoSource videoSource);
+  ~VisionRunnerBase();
+
+  VisionRunnerBase(const VisionRunnerBase&) = delete;
+  VisionRunnerBase& operator=(const VisionRunnerBase&) = delete;
+
+  void RunOnce();
+
+  void RunForever();
+
+  void Stop();
+
+ protected:
+  virtual void DoProcess(cv::Mat& image) = 0;
+
+ private:
+  std::unique_ptr<cv::Mat> m_image;
+  cs::CvSink m_cvSink;
+  std::atomic_bool m_enabled;
+};
+
+/**
+ * A vision runner is a convenient wrapper object to make it easy to run vision
+ * pipelines from robot code. The easiest way to use this is to run it in a
+ * std::thread and use the listener to take snapshots of the pipeline's outputs.
+ *
+ * @see VisionPipeline
+ */
+template <typename T>
+class VisionRunner : public VisionRunnerBase {
+ public:
+  VisionRunner(cs::VideoSource videoSource, T* pipeline,
+               std::function<void(T&)> listener);
+  virtual ~VisionRunner() = default;
+
+ protected:
+  void DoProcess(cv::Mat& image) override;
+
+ private:
+  T* m_pipeline;
+  std::function<void(T&)> m_listener;
+};
+}  // namespace frc
+
+#include "VisionRunner.inc"