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Update to 2018_v4 image and new build system. (#598)
* 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
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
317
wpilibc/src/main/native/include/CameraServer.h
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317
wpilibc/src/main/native/include/CameraServer.h
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include <atomic>
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#include <memory>
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#include <mutex>
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#include <string>
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#include <vector>
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#include "ErrorBase.h"
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#include "cscore.h"
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#include "llvm/DenseMap.h"
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#include "llvm/StringMap.h"
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#include "llvm/StringRef.h"
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#include "networktables/NetworkTable.h"
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namespace frc {
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/**
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* Singleton class for creating and keeping camera servers.
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* Also publishes camera information to NetworkTables.
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*/
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class CameraServer : public ErrorBase {
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public:
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static constexpr uint16_t kBasePort = 1181;
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static constexpr int kSize640x480 = 0;
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static constexpr int kSize320x240 = 1;
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static constexpr int kSize160x120 = 2;
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/**
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* Get the CameraServer instance.
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*/
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static CameraServer* GetInstance();
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#ifdef __linux__
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// USBCamera does not work on anything except linux
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/**
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* Start automatically capturing images to send to the dashboard.
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*
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* <p>You should call this method to see a camera feed on the dashboard.
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* If you also want to perform vision processing on the roboRIO, use
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* getVideo() to get access to the camera images.
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*
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* The first time this overload is called, it calls
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* {@link #StartAutomaticCapture(int)} with device 0, creating a camera
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* named "USB Camera 0". Subsequent calls increment the device number
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* (e.g. 1, 2, etc).
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*/
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cs::UsbCamera StartAutomaticCapture();
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/**
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* Start automatically capturing images to send to the dashboard.
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*
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* <p>This overload calls {@link #StartAutomaticCapture(String, int)} with
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* a name of "USB Camera {dev}".
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*
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* @param dev The device number of the camera interface
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*/
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cs::UsbCamera StartAutomaticCapture(int dev);
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/**
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* Start automatically capturing images to send to the dashboard.
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*
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* @param name The name to give the camera
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* @param dev The device number of the camera interface
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*/
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cs::UsbCamera StartAutomaticCapture(llvm::StringRef name, int dev);
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/**
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* Start automatically capturing images to send to the dashboard.
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*
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* @param name The name to give the camera
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* @param path The device path (e.g. "/dev/video0") of the camera
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*/
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cs::UsbCamera StartAutomaticCapture(llvm::StringRef name,
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llvm::StringRef path);
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#endif
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/**
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* Start automatically capturing images to send to the dashboard from
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* an existing camera.
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*
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* @param camera Camera
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*/
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void StartAutomaticCapture(const cs::VideoSource& camera);
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/**
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* Adds an Axis IP camera.
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*
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* <p>This overload calls {@link #AddAxisCamera(String, String)} with
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* name "Axis Camera".
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*
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* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
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*/
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cs::AxisCamera AddAxisCamera(llvm::StringRef host);
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/**
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* Adds an Axis IP camera.
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*
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* <p>This overload calls {@link #AddAxisCamera(String, String)} with
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* name "Axis Camera".
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*
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* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
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*/
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cs::AxisCamera AddAxisCamera(const char* host);
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/**
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* Adds an Axis IP camera.
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*
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* <p>This overload calls {@link #AddAxisCamera(String, String)} with
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* name "Axis Camera".
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*
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* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
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*/
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cs::AxisCamera AddAxisCamera(const std::string& host);
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/**
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* Adds an Axis IP camera.
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*
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* <p>This overload calls {@link #AddAxisCamera(String, String[])} with
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* name "Axis Camera".
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*
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* @param hosts Array of Camera host IPs/DNS names
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*/
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cs::AxisCamera AddAxisCamera(llvm::ArrayRef<std::string> hosts);
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/**
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* Adds an Axis IP camera.
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*
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* <p>This overload calls {@link #AddAxisCamera(String, String[])} with
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* name "Axis Camera".
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*
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* @param hosts Array of Camera host IPs/DNS names
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*/
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template <typename T>
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cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts);
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/**
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* Adds an Axis IP camera.
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*
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* @param name The name to give the camera
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* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
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*/
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cs::AxisCamera AddAxisCamera(llvm::StringRef name, llvm::StringRef host);
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/**
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* Adds an Axis IP camera.
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*
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* @param name The name to give the camera
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* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
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*/
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cs::AxisCamera AddAxisCamera(llvm::StringRef name, const char* host);
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/**
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* Adds an Axis IP camera.
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*
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* @param name The name to give the camera
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* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
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*/
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cs::AxisCamera AddAxisCamera(llvm::StringRef name, const std::string& host);
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/**
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* Adds an Axis IP camera.
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*
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* @param name The name to give the camera
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* @param hosts Array of Camera host IPs/DNS names
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*/
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cs::AxisCamera AddAxisCamera(llvm::StringRef name,
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llvm::ArrayRef<std::string> hosts);
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/**
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* Adds an Axis IP camera.
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*
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* @param name The name to give the camera
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* @param hosts Array of Camera host IPs/DNS names
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*/
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template <typename T>
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cs::AxisCamera AddAxisCamera(llvm::StringRef name,
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std::initializer_list<T> hosts);
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/**
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* Get OpenCV access to the primary camera feed. This allows you to
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* get images from the camera for image processing on the roboRIO.
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*
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* <p>This is only valid to call after a camera feed has been added
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* with startAutomaticCapture() or addServer().
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*/
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cs::CvSink GetVideo();
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/**
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* Get OpenCV access to the specified camera. This allows you to get
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* images from the camera for image processing on the roboRIO.
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*
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* @param camera Camera (e.g. as returned by startAutomaticCapture).
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*/
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cs::CvSink GetVideo(const cs::VideoSource& camera);
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/**
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* Get OpenCV access to the specified camera. This allows you to get
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* images from the camera for image processing on the roboRIO.
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*
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* @param name Camera name
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*/
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cs::CvSink GetVideo(llvm::StringRef name);
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/**
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* Create a MJPEG stream with OpenCV input. This can be called to pass custom
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* annotated images to the dashboard.
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*
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* @param name Name to give the stream
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* @param width Width of the image being sent
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* @param height Height of the image being sent
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*/
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cs::CvSource PutVideo(llvm::StringRef name, int width, int height);
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/**
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* Adds a MJPEG server at the next available port.
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*
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* @param name Server name
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*/
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cs::MjpegServer AddServer(llvm::StringRef name);
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/**
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* Adds a MJPEG server.
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*
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* @param name Server name
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*/
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cs::MjpegServer AddServer(llvm::StringRef name, int port);
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/**
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* Adds an already created server.
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*
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* @param server Server
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*/
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void AddServer(const cs::VideoSink& server);
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/**
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* Removes a server by name.
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*
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* @param name Server name
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*/
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void RemoveServer(llvm::StringRef name);
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/**
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* Get server for the primary camera feed.
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*
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* <p>This is only valid to call after a camera feed has been added
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* with StartAutomaticCapture() or AddServer().
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*/
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cs::VideoSink GetServer();
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/**
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* Gets a server by name.
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*
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* @param name Server name
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*/
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cs::VideoSink GetServer(llvm::StringRef name);
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/**
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* Adds an already created camera.
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*
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* @param camera Camera
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*/
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void AddCamera(const cs::VideoSource& camera);
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/**
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* Removes a camera by name.
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*
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* @param name Camera name
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*/
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void RemoveCamera(llvm::StringRef name);
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/**
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* Sets the size of the image to use. Use the public kSize constants to set
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* the correct mode, or set it directly on a camera and call the appropriate
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* StartAutomaticCapture method.
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*
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* @deprecated Use SetResolution on the UsbCamera returned by
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* StartAutomaticCapture() instead.
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* @param size The size to use
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*/
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void SetSize(int size);
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private:
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CameraServer();
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std::shared_ptr<ITable> GetSourceTable(CS_Source source);
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std::vector<std::string> GetSinkStreamValues(CS_Sink sink);
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std::vector<std::string> GetSourceStreamValues(CS_Source source);
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void UpdateStreamValues();
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static constexpr char const* kPublishName = "/CameraPublisher";
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std::mutex m_mutex;
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std::atomic<int> m_defaultUsbDevice;
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std::string m_primarySourceName;
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llvm::StringMap<cs::VideoSource> m_sources;
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llvm::StringMap<cs::VideoSink> m_sinks;
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llvm::DenseMap<CS_Source, std::shared_ptr<ITable>> m_tables;
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std::shared_ptr<NetworkTable> m_publishTable;
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cs::VideoListener m_videoListener;
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int m_tableListener;
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int m_nextPort;
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std::vector<std::string> m_addresses;
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};
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} // namespace frc
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#include "CameraServer.inc"
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