mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
New 2018 and later build setup (#1001)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
cb2c9eb6d5
commit
7f88cf768d
@@ -1,313 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include <atomic>
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#include <memory>
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#include <string>
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#include <vector>
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#include <llvm/DenseMap.h>
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#include <llvm/StringMap.h>
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#include <llvm/StringRef.h>
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#include <networktables/NetworkTable.h>
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#include <support/mutex.h>
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#include "ErrorBase.h"
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#include "cscore.h"
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namespace frc {
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/**
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* Singleton class for creating and keeping camera servers.
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*
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* Also publishes camera information to NetworkTables.
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*/
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class CameraServer : public ErrorBase {
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public:
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static constexpr uint16_t kBasePort = 1181;
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static constexpr int kSize640x480 = 0;
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static constexpr int kSize320x240 = 1;
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static constexpr int kSize160x120 = 2;
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/**
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* Get the CameraServer instance.
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*/
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static CameraServer* GetInstance();
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#ifdef __linux__
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// USBCamera does not work on anything except Linux.
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/**
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* Start automatically capturing images to send to the dashboard.
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*
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* You should call this method to see a camera feed on the dashboard. If you
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* also want to perform vision processing on the roboRIO, use getVideo() to
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* get access to the camera images.
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*
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* The first time this overload is called, it calls StartAutomaticCapture()
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* with device 0, creating a camera named "USB Camera 0". Subsequent calls
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* increment the device number (e.g. 1, 2, etc).
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*/
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cs::UsbCamera StartAutomaticCapture();
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/**
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* Start automatically capturing images to send to the dashboard.
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*
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* This overload calls StartAutomaticCapture() with a name of "USB Camera
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* {dev}".
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*
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* @param dev The device number of the camera interface
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*/
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cs::UsbCamera StartAutomaticCapture(int dev);
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/**
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* Start automatically capturing images to send to the dashboard.
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*
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* @param name The name to give the camera
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* @param dev The device number of the camera interface
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*/
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cs::UsbCamera StartAutomaticCapture(llvm::StringRef name, int dev);
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/**
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* Start automatically capturing images to send to the dashboard.
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*
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* @param name The name to give the camera
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* @param path The device path (e.g. "/dev/video0") of the camera
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*/
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cs::UsbCamera StartAutomaticCapture(llvm::StringRef name,
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llvm::StringRef path);
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#endif
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/**
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* Start automatically capturing images to send to the dashboard from
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* an existing camera.
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*
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* @param camera Camera
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*/
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void StartAutomaticCapture(const cs::VideoSource& camera);
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/**
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* Adds an Axis IP camera.
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*
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* This overload calls AddAxisCamera() with name "Axis Camera".
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*
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* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
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*/
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cs::AxisCamera AddAxisCamera(llvm::StringRef host);
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/**
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* Adds an Axis IP camera.
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*
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* This overload calls AddAxisCamera() with name "Axis Camera".
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*
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* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
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*/
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cs::AxisCamera AddAxisCamera(const char* host);
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/**
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* Adds an Axis IP camera.
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*
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* This overload calls AddAxisCamera() with name "Axis Camera".
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*
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* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
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*/
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cs::AxisCamera AddAxisCamera(const std::string& host);
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/**
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* Adds an Axis IP camera.
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*
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* This overload calls AddAxisCamera() with name "Axis Camera".
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*
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* @param hosts Array of Camera host IPs/DNS names
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*/
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cs::AxisCamera AddAxisCamera(llvm::ArrayRef<std::string> hosts);
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/**
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* Adds an Axis IP camera.
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*
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* This overload calls AddAxisCamera() with name "Axis Camera".
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*
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* @param hosts Array of Camera host IPs/DNS names
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*/
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template <typename T>
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cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts);
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/**
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* Adds an Axis IP camera.
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*
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* @param name The name to give the camera
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* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
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*/
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cs::AxisCamera AddAxisCamera(llvm::StringRef name, llvm::StringRef host);
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/**
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* Adds an Axis IP camera.
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*
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* @param name The name to give the camera
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* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
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*/
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cs::AxisCamera AddAxisCamera(llvm::StringRef name, const char* host);
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/**
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* Adds an Axis IP camera.
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*
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* @param name The name to give the camera
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* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
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*/
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cs::AxisCamera AddAxisCamera(llvm::StringRef name, const std::string& host);
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/**
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* Adds an Axis IP camera.
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*
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* @param name The name to give the camera
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* @param hosts Array of Camera host IPs/DNS names
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*/
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cs::AxisCamera AddAxisCamera(llvm::StringRef name,
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llvm::ArrayRef<std::string> hosts);
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/**
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* Adds an Axis IP camera.
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*
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* @param name The name to give the camera
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* @param hosts Array of Camera host IPs/DNS names
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*/
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template <typename T>
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cs::AxisCamera AddAxisCamera(llvm::StringRef name,
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std::initializer_list<T> hosts);
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/**
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* Get OpenCV access to the primary camera feed. This allows you to
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* get images from the camera for image processing on the roboRIO.
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*
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* <p>This is only valid to call after a camera feed has been added
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* with startAutomaticCapture() or addServer().
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*/
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cs::CvSink GetVideo();
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/**
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* Get OpenCV access to the specified camera. This allows you to get
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* images from the camera for image processing on the roboRIO.
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*
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* @param camera Camera (e.g. as returned by startAutomaticCapture).
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*/
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cs::CvSink GetVideo(const cs::VideoSource& camera);
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/**
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* Get OpenCV access to the specified camera. This allows you to get
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* images from the camera for image processing on the roboRIO.
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*
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* @param name Camera name
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*/
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cs::CvSink GetVideo(llvm::StringRef name);
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/**
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* Create a MJPEG stream with OpenCV input. This can be called to pass custom
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* annotated images to the dashboard.
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*
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* @param name Name to give the stream
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* @param width Width of the image being sent
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* @param height Height of the image being sent
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*/
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cs::CvSource PutVideo(llvm::StringRef name, int width, int height);
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/**
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* Adds a MJPEG server at the next available port.
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*
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* @param name Server name
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*/
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cs::MjpegServer AddServer(llvm::StringRef name);
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/**
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* Adds a MJPEG server.
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*
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* @param name Server name
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*/
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cs::MjpegServer AddServer(llvm::StringRef name, int port);
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/**
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* Adds an already created server.
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*
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* @param server Server
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*/
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void AddServer(const cs::VideoSink& server);
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/**
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* Removes a server by name.
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*
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* @param name Server name
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*/
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void RemoveServer(llvm::StringRef name);
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/**
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* Get server for the primary camera feed.
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*
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* This is only valid to call after a camera feed has been added with
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* StartAutomaticCapture() or AddServer().
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*/
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cs::VideoSink GetServer();
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/**
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* Gets a server by name.
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*
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* @param name Server name
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*/
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cs::VideoSink GetServer(llvm::StringRef name);
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/**
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* Adds an already created camera.
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*
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* @param camera Camera
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*/
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void AddCamera(const cs::VideoSource& camera);
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/**
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* Removes a camera by name.
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*
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* @param name Camera name
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*/
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void RemoveCamera(llvm::StringRef name);
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/**
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* Sets the size of the image to use. Use the public kSize constants to set
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* the correct mode, or set it directly on a camera and call the appropriate
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* StartAutomaticCapture method.
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*
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* @deprecated Use SetResolution on the UsbCamera returned by
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* StartAutomaticCapture() instead.
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* @param size The size to use
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*/
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void SetSize(int size);
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private:
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CameraServer();
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std::shared_ptr<nt::NetworkTable> GetSourceTable(CS_Source source);
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std::vector<std::string> GetSinkStreamValues(CS_Sink sink);
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std::vector<std::string> GetSourceStreamValues(CS_Source source);
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void UpdateStreamValues();
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static constexpr char const* kPublishName = "/CameraPublisher";
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wpi::mutex m_mutex;
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std::atomic<int> m_defaultUsbDevice;
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std::string m_primarySourceName;
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llvm::StringMap<cs::VideoSource> m_sources;
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llvm::StringMap<cs::VideoSink> m_sinks;
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llvm::DenseMap<CS_Source, std::shared_ptr<nt::NetworkTable>> m_tables;
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std::shared_ptr<nt::NetworkTable> m_publishTable;
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cs::VideoListener m_videoListener;
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int m_tableListener;
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int m_nextPort;
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std::vector<std::string> m_addresses;
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};
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} // namespace frc
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#include "CameraServer.inc"
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@@ -1,30 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <string>
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#include <vector>
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namespace frc {
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template <typename T>
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inline cs::AxisCamera CameraServer::AddAxisCamera(
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std::initializer_list<T> hosts) {
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return AddAxisCamera("Axis Camera", hosts);
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}
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template <typename T>
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inline cs::AxisCamera CameraServer::AddAxisCamera(
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llvm::StringRef name, std::initializer_list<T> hosts) {
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std::vector<std::string> vec;
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vec.reserve(hosts.size());
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for (const auto& host : hosts) vec.emplace_back(host);
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return AddAxisCamera(name, vec);
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}
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} // namespace frc
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@@ -1,32 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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namespace cv {
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class Mat;
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} // namespace cv
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namespace frc {
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/**
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* A vision pipeline is responsible for running a group of OpenCV algorithms to
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* extract data from an image.
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*
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* @see VisionRunner
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*/
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class VisionPipeline {
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public:
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virtual ~VisionPipeline() = default;
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/**
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* Processes the image input and sets the result objects. Implementations
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* should make these objects accessible.
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*/
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virtual void Process(cv::Mat& mat) = 0;
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};
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} // namespace frc
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@@ -1,69 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <atomic>
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#include <functional>
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#include <memory>
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#include "ErrorBase.h"
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#include "cscore.h"
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#include "vision/VisionPipeline.h"
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namespace frc {
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/**
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* Non-template base class for VisionRunner.
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*/
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class VisionRunnerBase : public ErrorBase {
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public:
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explicit VisionRunnerBase(cs::VideoSource videoSource);
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~VisionRunnerBase() override;
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VisionRunnerBase(const VisionRunnerBase&) = delete;
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VisionRunnerBase& operator=(const VisionRunnerBase&) = delete;
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void RunOnce();
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void RunForever();
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void Stop();
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protected:
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virtual void DoProcess(cv::Mat& image) = 0;
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private:
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std::unique_ptr<cv::Mat> m_image;
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cs::CvSink m_cvSink;
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std::atomic_bool m_enabled;
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};
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/**
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* A vision runner is a convenient wrapper object to make it easy to run vision
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* pipelines from robot code. The easiest way to use this is to run it in a
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* std::thread and use the listener to take snapshots of the pipeline's outputs.
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*
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* @see VisionPipeline
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*/
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template <typename T>
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class VisionRunner : public VisionRunnerBase {
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public:
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VisionRunner(cs::VideoSource videoSource, T* pipeline,
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std::function<void(T&)> listener);
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virtual ~VisionRunner() = default;
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protected:
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void DoProcess(cv::Mat& image) override;
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private:
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T* m_pipeline;
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std::function<void(T&)> m_listener;
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};
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} // namespace frc
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#include "VisionRunner.inc"
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@@ -1,35 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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|
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#pragma once
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namespace frc {
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/**
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* Creates a new vision runner. It will take images from the {@code
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* videoSource}, send them to the {@code pipeline}, and call the {@code
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* listener} when the pipeline has finished to alert user code when it is safe
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* to access the pipeline's outputs.
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*
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* @param videoSource The video source to use to supply images for the pipeline
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* @param pipeline The vision pipeline to run
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* @param listener A function to call after the pipeline has finished running
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*/
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template <typename T>
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VisionRunner<T>::VisionRunner(cs::VideoSource videoSource, T* pipeline,
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std::function<void(T&)> listener)
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: VisionRunnerBase(videoSource),
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m_pipeline(pipeline),
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m_listener(listener) {}
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template <typename T>
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void VisionRunner<T>::DoProcess(cv::Mat& image) {
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m_pipeline->Process(image);
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m_listener(*m_pipeline);
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}
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} // namespace frc
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Reference in New Issue
Block a user