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[cscore] Sink: add ability to get most recent frame instead of waiting (#7572)

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This allows more control over frame dropping.
This commit is contained in:
Matt
2024-12-28 23:44:48 -05:00
committed by GitHub
parent 85507a6c65
commit a27df8ec24
7 changed files with 117 additions and 6 deletions
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28
cscore/src/main/native/cpp/RawSinkImpl.cpp
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@@ -63,6 +63,11 @@ uint64_t RawSinkImpl::GrabFrame(WPI_RawFrame& image) {
}
uint64_t RawSinkImpl::GrabFrame(WPI_RawFrame& image, double timeout) {
return GrabFrame(image, timeout, 0);
}
uint64_t RawSinkImpl::GrabFrame(WPI_RawFrame& image, double timeout,
uint64_t lastFrameTime) {
SetEnabled(true);
auto source = GetSource();
@@ -72,7 +77,7 @@ uint64_t RawSinkImpl::GrabFrame(WPI_RawFrame& image, double timeout) {
return 0;
}
auto frame = source->GetNextFrame(timeout); // blocks
auto frame = source->GetNextFrame(timeout, lastFrameTime); // blocks
if (!frame) {
// Bad frame; sleep for 20 ms so we don't consume all processor time.
std::this_thread::sleep_for(std::chrono::milliseconds(20));
@@ -183,6 +188,18 @@ uint64_t GrabSinkFrameTimeout(CS_Sink sink, WPI_RawFrame& image, double timeout,
return static_cast<RawSinkImpl&>(*data->sink).GrabFrame(image, timeout);
}
uint64_t GrabSinkFrameTimeoutLastTime(CS_Sink sink, WPI_RawFrame& image,
double timeout, uint64_t lastFrameTime,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return 0;
}
return static_cast<RawSinkImpl&>(*data->sink)
.GrabFrame(image, timeout, lastFrameTime);
}
} // namespace cs
extern "C" {
@@ -209,4 +226,13 @@ uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct WPI_RawFrame* image,
return cs::GrabSinkFrameTimeout(sink, *image, timeout, status);
}
uint64_t CS_GrabRawSinkFrameTimeoutWithFrameTime(CS_Sink sink,
struct WPI_RawFrame* image,
double timeout,
uint64_t lastFrameTime,
CS_Status* status) {
return cs::GrabSinkFrameTimeoutLastTime(sink, *image, timeout, lastFrameTime,
status);
}
} // extern "C"

5
cscore/src/main/native/cpp/RawSinkImpl.h
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@@ -34,10 +34,15 @@ class RawSinkImpl : public SinkImpl {
uint64_t GrabFrame(WPI_RawFrame& frame);
uint64_t GrabFrame(WPI_RawFrame& frame, double timeout);
// Wait for a frame with a time other than lastFrameTime
uint64_t GrabFrame(WPI_RawFrame& frame, double timeout,
uint64_t lastFrameTime);
private:
void ThreadMain();
// Copies the image from incomingFrame into rawFrame, converting where
// necessary to the resolution of rawFrame
uint64_t GrabFrameImpl(WPI_RawFrame& rawFrame, Frame& incomingFrame);
std::atomic_bool m_active; // set to false to terminate threads

11
cscore/src/main/native/cpp/SourceImpl.cpp
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@@ -84,12 +84,17 @@ Frame SourceImpl::GetNextFrame() {
return m_frame;
}
Frame SourceImpl::GetNextFrame(double timeout) {
Frame SourceImpl::GetNextFrame(double timeout, Frame::Time lastFrameTime) {
std::unique_lock lock{m_frameMutex};
auto oldTime = m_frame.GetTime();
if (lastFrameTime == 0) {
lastFrameTime = m_frame.GetTime();
}
// Wait unitl m_frame has a timestamp other than lastFrameTime
if (!m_frameCv.wait_for(
lock, std::chrono::milliseconds(static_cast<int>(timeout * 1000)),
[=, this] { return m_frame.GetTime() != oldTime; })) {
[=, this] { return m_frame.GetTime() != lastFrameTime; })) {
m_frame = Frame{*this, "timed out getting frame", wpi::Now()};
}
return m_frame;

3
cscore/src/main/native/cpp/SourceImpl.h
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@@ -98,7 +98,8 @@ class SourceImpl : public PropertyContainer {
// Blocking function that waits for the next frame and returns it (with
// timeout in seconds). If timeout expires, returns empty frame.
Frame GetNextFrame(double timeout);
// If lastFrameTime==0, uses m_frame.GetTime() for lastFrameTime
Frame GetNextFrame(double timeout, Frame::Time lastFrameTime = 0);
// Force a wakeup of all GetNextFrame() callers by sending an empty frame.
void Wakeup();