[cscore] Add UVC Protocol Support for USB Camera Controls on macOS (#7926)

2026-06-27 02:01:42 +00:00 · 2025-04-30 22:02:59 +08:00
parent a4572a01b7
commit 8fe3cfb325
8 changed files with 1438 additions and 18 deletions
--- a/cscore/src/main/native/objcpp/UvcControlImpl.h
+++ b/cscore/src/main/native/objcpp/UvcControlImpl.h
@@ -0,0 +1,129 @@
+// 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.
+
+#pragma once
+
+#import <AVFoundation/AVFoundation.h>
+#import <IOKit/IOCFPlugIn.h>
+#import <IOKit/usb/IOUSBLib.h>
+
+#include <memory>
+#include <string_view>
+
+#import "UsbCameraDelegate.h"
+
+#include "cscore_cpp.h"
+
+// Status code definition
+#define CS_UVC_STATUS_ERROR -3001
+#define CS_UVC_STATUS_DEVICE_DISCONNECTED -3002
+
+// UVC control selector definitions
+#define UVC_INPUT_TERMINAL_ID 0x01
+
+// Camera terminal control selectors
+#define CT_AE_MODE_CONTROL 0x02
+#define CT_AE_PRIORITY_CONTROL 0x03
+#define CT_EXPOSURE_TIME_ABSOLUTE_CONTROL 0x04
+#define CT_EXPOSURE_TIME_RELATIVE_CONTROL 0x05
+#define CT_FOCUS_ABSOLUTE_CONTROL 0x06
+#define CT_FOCUS_RELATIVE_CONTROL 0x07
+#define CT_FOCUS_AUTO_CONTROL 0x08
+#define CT_ZOOM_ABSOLUTE_CONTROL 0x0B
+#define CT_ZOOM_RELATIVE_CONTROL 0x0C
+
+// Processing unit control selectors
+#define PU_BACKLIGHT_COMPENSATION_CONTROL 0x01
+#define PU_BRIGHTNESS_CONTROL 0x02
+#define PU_CONTRAST_CONTROL 0x03
+#define PU_GAIN_CONTROL 0x04
+#define PU_POWER_LINE_FREQUENCY_CONTROL 0x05
+#define PU_HUE_CONTROL 0x06
+#define PU_SATURATION_CONTROL 0x07
+#define PU_SHARPNESS_CONTROL 0x08
+#define PU_GAMMA_CONTROL 0x09
+#define PU_WHITE_BALANCE_TEMPERATURE_CONTROL 0x0A
+#define PU_WHITE_BALANCE_TEMPERATURE_AUTO_CONTROL 0x0B
+#define PU_WHITE_BALANCE_COMPONENT_CONTROL 0x0C
+#define PU_WHITE_BALANCE_COMPONENT_AUTO_CONTROL 0x0D
+#define PU_HUE_AUTO_CONTROL 0x10
+#define PU_CONTRAST_AUTO_CONTROL 0x13
+
+// Camera request error code
+#define VC_REQUEST_ERROR_CODE_CONTROL 0x02
+
+// UVC control interface definitions
+#define UVC_CONTROL_INTERFACE_CLASS 14
+#define UVC_CONTROL_INTERFACE_SUBCLASS 1
+
+// UVC control request types
+#define UVC_SET_CUR 0x01
+#define UVC_GET_CUR 0x81
+#define UVC_GET_MIN 0x82
+#define UVC_GET_MAX 0x83
+#define UVC_GET_RES 0x84
+#define UVC_GET_INFO 0x86
+#define UVC_GET_DEF 0x87
+
+// Camera property ID definitions
+#define CAPPROPID_EXPOSURE 1
+#define CAPPROPID_FOCUS 2
+#define CAPPROPID_ZOOM 3
+#define CAPPROPID_WHITEBALANCE 4
+#define CAPPROPID_GAIN 5
+#define CAPPROPID_BRIGHTNESS 6
+#define CAPPROPID_CONTRAST 7
+#define CAPPROPID_SATURATION 8
+#define CAPPROPID_GAMMA 9
+#define CAPPROPID_HUE 10
+#define CAPPROPID_SHARPNESS 11
+#define CAPPROPID_BACKLIGHTCOMP 12
+#define CAPPROPID_POWERLINEFREQ 13
+#define CAPPROPID_LAST 14
+
+namespace cs {
+class UsbCameraImpl;
+}
+
+@interface UvcControlImpl : NSObject
+
+@property(nonatomic) IOUSBInterfaceInterface190** controlInterface;
+@property(nonatomic) uint32_t processingUnitID;
+@property(nonatomic) std::weak_ptr<cs::UsbCameraImpl> cppImpl;
+
+// Create from AVCaptureDevice
+ (instancetype)createFromAVCaptureDevice:(AVCaptureDevice*)device status:(CS_Status*)status;
+
+// Initialize with USB vendor/product/location
+- (instancetype)initWithVendorId:(uint16_t)vid 
+                      productId:(uint16_t)pid 
+                       location:(uint32_t)location
+                         status:(CS_Status*)status;
+
+- (void)dealloc;
+
+// Basic property control
+- (bool)setProperty:(uint32_t)propID 
+          withValue:(int32_t)value
+             status:(CS_Status*)status;
+- (bool)getProperty:(uint32_t)propID 
+          withValue:(int32_t*)value
+             status:(CS_Status*)status;
+
+// Auto mode control
+- (bool)setAutoProperty:(uint32_t)propID 
+               enabled:(bool)enabled
+                status:(CS_Status*)status;
+- (bool)getAutoProperty:(uint32_t)propID 
+               enabled:(bool*)enabled
+                status:(CS_Status*)status;
+
+// Property range query
+- (bool)getPropertyLimits:(uint32_t)propID
+                     min:(int32_t*)min
+                     max:(int32_t*)max
+                defValue:(int32_t*)defValue
+                  status:(CS_Status*)status;
+
+@end