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Update to 2018_v4 image and new build system. (#598)

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* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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76
wpilibc/src/main/native/cpp/vision/VisionRunner.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "vision/VisionRunner.h"
#include "DriverStation.h"
#include "RobotBase.h"
#include "opencv2/core/mat.hpp"
using namespace frc;
/**
* Creates a new vision runner. It will take images from the {@code
* videoSource}, and call the virtual DoProcess() method.
*
* @param videoSource the video source to use to supply images for the pipeline
*/
VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource)
: m_image(std::make_unique<cv::Mat>()), m_cvSink("VisionRunner CvSink") {
m_cvSink.SetSource(videoSource);
}
// Located here and not in header due to cv::Mat forward declaration.
VisionRunnerBase::~VisionRunnerBase() {}
/**
* Runs the pipeline one time, giving it the next image from the video source
* specified in the constructor. This will block until the source either has an
* image or throws an error. If the source successfully supplied a frame, the
* pipeline's image input will be set, the pipeline will run, and the listener
* specified in the constructor will be called to notify it that the pipeline
* ran. This must be run in a dedicated thread, and cannot be used in the main
* robot thread because it will freeze the robot program.
*
* <p>This method is exposed to allow teams to add additional functionality or
* have their own ways to run the pipeline. Most teams, however, should just
* use {@link #runForever} in its own thread using a std::thread.</p>
*/
void VisionRunnerBase::RunOnce() {
if (std::this_thread::get_id() == RobotBase::GetThreadId()) {
wpi_setErrnoErrorWithContext(
"VisionRunner::RunOnce() cannot be called from the main robot thread");
return;
}
auto frameTime = m_cvSink.GrabFrame(*m_image);
if (frameTime == 0) {
auto error = m_cvSink.GetError();
DriverStation::ReportError(error);
} else {
DoProcess(*m_image);
}
}
/**
* A convenience method that calls {@link #runOnce()} in an infinite loop. This
* must be run in a dedicated thread, and cannot be used in the main robot
* thread because it will freeze the robot program.
*
* <p><strong>Do not call this method directly from the main
* thread.</strong></p>
*/
void VisionRunnerBase::RunForever() {
if (std::this_thread::get_id() == RobotBase::GetThreadId()) {
wpi_setErrnoErrorWithContext(
"VisionRunner::RunForever() cannot be called from the main robot "
"thread");
return;
}
while (true) {
RunOnce();
}
}