Revamp API again and start implementing C and Java wrapper shells.

java/src/edu/wpi/cameraserver/CvSink.java

@@ -0,0 +1,61 @@
+package edu.wpi.cameraserver;
+
+/// A sink for user code to accept video frames as OpenCV images.
+public class CvSink extends VideoSink {
+  /// Create a sink for accepting OpenCV images.
+  /// WaitForFrame() must be called on the created sink to get each new
+  /// image.
+  /// @param name Source name (arbitrary unique identifier)
+  public CvSink(String name) {
+    super(CameraServerJNI.createCvSink(name));
+  }
+
+  /// Create a sink for accepting OpenCV images in a separate thread.
+  /// A thread will be created that calls WaitForFrame() and calls the
+  /// processFrame() callback each time a new frame arrives.
+  /// @param name Source name (arbitrary unique identifier)
+  /// @param processFrame Frame processing function; will be called with a
+  ///        time=0 if an error occurred.  processFrame should call GetImage()
+  ///        or GetError() as needed, but should not call (except in very
+  ///        unusual circumstances) WaitForImage().
+  //public CvSink(llvm::StringRef name,
+  //       std::function<void(uint64_t time)> processFrame) {
+  //  super(CameraServerJNI.createCvSinkCallback(name, processFrame));
+  //}
+
+  /// Wait for the next frame.  This is a blocking call.
+  /// @return Frame time, or 0 on error (call GetError() to obtain the error
+  ///         message).
+  public long waitForFrame() {
+    return CameraServerJNI.sinkWaitForFrame(m_handle);
+  }
+
+  /// Get an OpenCV image from the specified channel.
+  /// @return False if image could not be obtained for some reason (e.g.
+  ///         channel out of range)
+  //public boolean getImage(int channel, CvMat image) {
+  //  return CameraServerJNI.getSinkImage(m_handle, channel, image);
+  //}
+
+  /// Wait for the next frame and get the image from channel 0.  Equivalent
+  /// to calling WaitForFrame() followed by GetImage(0, image).
+  /// @return Frame time, or 0 on error (call GetError() to obtain the error
+  ///         message);
+  //public long frameGrab(CvMat image) {
+  //  return CameraServerJNI.grabSinkFrame(m_handle, image);
+  //}
+
+  /// Get error string.  Call this if WaitForFrame() returns 0 to determine
+  /// what the error is.
+  public String getError() {
+    return CameraServerJNI.getSinkError(m_handle);
+  }
+
+  /// Enable or disable getting new frames.
+  /// Disabling will cause processFrame (for callback-based CvSinks) to not
+  /// be called and WaitForFrame() to not return.  This can be used to save
+  /// processor resources when frames are not needed.
+  public void setEnabled(boolean enabled) {
+    CameraServerJNI.setSinkEnabled(m_handle, enabled);
+  }
+}