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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"