Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-01 02:41:48 +00:00
Code Issues Packages Projects Releases Wiki Activity

[cscore] Split cscore classes into separate headers

Browse Source 
Fixes #3713.
This commit is contained in:
Peter Johnson
2026-01-04 16:59:02 -08:00
parent f08258f784
commit e9d226491c
77 changed files with 2977 additions and 2721 deletions
Download Patch File Download Diff File Expand all files Collapse all files

87
cscore/src/main/native/linux/UsbCameraImpl.cpp
View File

@@ -37,6 +37,7 @@
#include "wpi/util/SmallString.hpp"
#include "wpi/util/StringExtras.hpp"
#include "wpi/util/fs.hpp"
#include "wpi/util/raw_istream.hpp"
#include "wpi/util/timestamp.hpp"
using namespace wpi::cs;
@@ -70,47 +71,47 @@ static inline struct v4l2_fract FPSToFract(int fps) {
}
// Conversion from v4l2_format pixelformat to VideoMode::PixelFormat
static VideoMode::PixelFormat ToPixelFormat(__u32 pixelFormat) {
static wpi::util::PixelFormat ToPixelFormat(__u32 pixelFormat) {
switch (pixelFormat) {
case V4L2_PIX_FMT_MJPEG:
return VideoMode::kMJPEG;
return wpi::util::PixelFormat::kMJPEG;
case V4L2_PIX_FMT_YUYV:
return VideoMode::kYUYV;
return wpi::util::PixelFormat::kYUYV;
case V4L2_PIX_FMT_RGB565:
return VideoMode::kRGB565;
return wpi::util::PixelFormat::kRGB565;
case V4L2_PIX_FMT_BGR24:
return VideoMode::kBGR;
return wpi::util::PixelFormat::kBGR;
case V4L2_PIX_FMT_ABGR32:
return VideoMode::kBGRA;
return wpi::util::PixelFormat::kBGRA;
case V4L2_PIX_FMT_GREY:
return VideoMode::kGray;
return wpi::util::PixelFormat::kGray;
case V4L2_PIX_FMT_Y16:
return VideoMode::kY16;
return wpi::util::PixelFormat::kY16;
case V4L2_PIX_FMT_UYVY:
return VideoMode::kUYVY;
return wpi::util::PixelFormat::kUYVY;
default:
return VideoMode::kUnknown;
return wpi::util::PixelFormat::kUnknown;
}
}
// Conversion from VideoMode::PixelFormat to v4l2_format pixelformat
static __u32 FromPixelFormat(VideoMode::PixelFormat pixelFormat) {
static __u32 FromPixelFormat(wpi::util::PixelFormat pixelFormat) {
switch (pixelFormat) {
case VideoMode::kMJPEG:
case wpi::util::PixelFormat::kMJPEG:
return V4L2_PIX_FMT_MJPEG;
case VideoMode::kYUYV:
case wpi::util::PixelFormat::kYUYV:
return V4L2_PIX_FMT_YUYV;
case VideoMode::kRGB565:
case wpi::util::PixelFormat::kRGB565:
return V4L2_PIX_FMT_RGB565;
case VideoMode::kBGR:
case wpi::util::PixelFormat::kBGR:
return V4L2_PIX_FMT_BGR24;
case VideoMode::kBGRA:
case wpi::util::PixelFormat::kBGRA:
return V4L2_PIX_FMT_ABGR32;
case VideoMode::kGray:
case wpi::util::PixelFormat::kGray:
return V4L2_PIX_FMT_GREY;
case VideoMode::kY16:
case wpi::util::PixelFormat::kY16:
return V4L2_PIX_FMT_Y16;
case VideoMode::kUYVY:
case wpi::util::PixelFormat::kUYVY:
return V4L2_PIX_FMT_UYVY;
default:
return 0;
@@ -553,7 +554,7 @@ void UsbCameraImpl::CameraThreadMain() {
int width = m_mode.width;
int height = m_mode.height;
bool good = true;
if (m_mode.pixelFormat == VideoMode::kMJPEG &&
if (m_mode.pixelFormat == wpi::util::PixelFormat::kMJPEG &&
!GetJpegSize(image, &width, &height)) {
SWARNING("invalid JPEG image received from camera");
good = false;
@@ -603,8 +604,8 @@ void UsbCameraImpl::CameraThreadMain() {
"Got valid copy time for frame - default to wpi::util::Now");
}
PutFrame(static_cast<VideoMode::PixelFormat>(m_mode.pixelFormat),
width, height, image, frameTime, timeSource);
PutFrame(m_mode.pixelFormat, width, height, image, frameTime,
timeSource);
}
}
@@ -821,7 +822,7 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetMode(
std::unique_lock<wpi::util::mutex>& lock, const Message& msg) {
VideoMode newMode;
if (msg.kind == Message::kCmdSetMode) {
newMode.pixelFormat = msg.data[0];
newMode.pixelFormat = static_cast<wpi::util::PixelFormat>(msg.data[0]);
newMode.width = msg.data[1];
newMode.height = msg.data[2];
newMode.fps = msg.data[3];
@@ -830,7 +831,7 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetMode(
m_modeSetFPS = true;
} else if (msg.kind == Message::kCmdSetPixelFormat) {
newMode = m_mode;
newMode.pixelFormat = msg.data[0];
newMode.pixelFormat = static_cast<wpi::util::PixelFormat>(msg.data[0]);
m_modeSetPixelFormat = true;
} else if (msg.kind == Message::kCmdSetResolution) {
newMode = m_mode;
@@ -1017,22 +1018,21 @@ void UsbCameraImpl::DeviceSetMode() {
: 0;
#endif
vfmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
vfmt.fmt.pix.pixelformat =
FromPixelFormat(static_cast<VideoMode::PixelFormat>(m_mode.pixelFormat));
vfmt.fmt.pix.pixelformat = FromPixelFormat(m_mode.pixelFormat);
if (vfmt.fmt.pix.pixelformat == 0) {
SWARNING("could not set format {}, defaulting to MJPEG",
m_mode.pixelFormat);
static_cast<int>(m_mode.pixelFormat));
vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG;
}
vfmt.fmt.pix.width = m_mode.width;
vfmt.fmt.pix.height = m_mode.height;
vfmt.fmt.pix.field = V4L2_FIELD_ANY;
if (DoIoctl(fd, VIDIOC_S_FMT, &vfmt) != 0) {
SWARNING("could not set format {} res {}x{}", m_mode.pixelFormat,
m_mode.width, m_mode.height);
SWARNING("could not set format {} res {}x{}",
static_cast<int>(m_mode.pixelFormat), m_mode.width, m_mode.height);
} else {
SINFO("set format {} res {}x{}", m_mode.pixelFormat, m_mode.width,
m_mode.height);
SINFO("set format {} res {}x{}", static_cast<int>(m_mode.pixelFormat),
m_mode.width, m_mode.height);
}
}
@@ -1079,10 +1079,10 @@ void UsbCameraImpl::DeviceCacheMode() {
if (DoIoctl(fd, VIDIOC_G_FMT, &vfmt) != 0) {
SERROR("could not read current video mode");
std::scoped_lock lock(m_mutex);
m_mode = VideoMode{VideoMode::kMJPEG, 320, 240, 30};
m_mode = VideoMode{wpi::util::PixelFormat::kMJPEG, 320, 240, 30};
return;
}
VideoMode::PixelFormat pixelFormat = ToPixelFormat(vfmt.fmt.pix.pixelformat);
wpi::util::PixelFormat pixelFormat = ToPixelFormat(vfmt.fmt.pix.pixelformat);
int width = vfmt.fmt.pix.width;
int height = vfmt.fmt.pix.height;
@@ -1104,13 +1104,13 @@ void UsbCameraImpl::DeviceCacheMode() {
// User set pixel format
if (pixelFormat != m_mode.pixelFormat) {
formatChanged = true;
pixelFormat = static_cast<VideoMode::PixelFormat>(m_mode.pixelFormat);
pixelFormat = static_cast<wpi::util::PixelFormat>(m_mode.pixelFormat);
}
} else {
// Default to MJPEG
if (pixelFormat != VideoMode::kMJPEG) {
if (pixelFormat != wpi::util::PixelFormat::kMJPEG) {
formatChanged = true;
pixelFormat = VideoMode::kMJPEG;
pixelFormat = wpi::util::PixelFormat::kMJPEG;
}
}
@@ -1319,8 +1319,8 @@ void UsbCameraImpl::DeviceCacheVideoModes() {
std::memset(&fmt, 0, sizeof(fmt));
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
for (fmt.index = 0; TryIoctl(fd, VIDIOC_ENUM_FMT, &fmt) >= 0; ++fmt.index) {
VideoMode::PixelFormat pixelFormat = ToPixelFormat(fmt.pixelformat);
if (pixelFormat == VideoMode::kUnknown) {
wpi::util::PixelFormat pixelFormat = ToPixelFormat(fmt.pixelformat);
if (pixelFormat == wpi::util::PixelFormat::kUnknown) {
continue;
}
@@ -1359,8 +1359,9 @@ void UsbCameraImpl::DeviceCacheVideoModes() {
// provide a set of discrete modes; list based on
// https://picamera.readthedocs.io/en/release-1.10/fov.html
if (modes.empty() && m_picamera) {
for (VideoMode::PixelFormat pixelFormat :
{VideoMode::kYUYV, VideoMode::kMJPEG, VideoMode::kBGR}) {
for (wpi::util::PixelFormat pixelFormat :
{wpi::util::PixelFormat::kYUYV, wpi::util::PixelFormat::kMJPEG,
wpi::util::PixelFormat::kBGR}) {
modes.emplace_back(pixelFormat, 1920, 1080, 30);
modes.emplace_back(pixelFormat, 2592, 1944, 15);
modes.emplace_back(pixelFormat, 1296, 972, 42);
@@ -1566,7 +1567,7 @@ void UsbCameraImpl::SetExposureManual(int value, CS_Status* status) {
bool UsbCameraImpl::SetVideoMode(const VideoMode& mode, CS_Status* status) {
Message msg{Message::kCmdSetMode};
msg.data[0] = mode.pixelFormat;
msg.data[0] = static_cast<int>(mode.pixelFormat);
msg.data[1] = mode.width;
msg.data[2] = mode.height;
msg.data[3] = mode.fps;
@@ -1574,10 +1575,10 @@ bool UsbCameraImpl::SetVideoMode(const VideoMode& mode, CS_Status* status) {
return *status == CS_OK;
}
bool UsbCameraImpl::SetPixelFormat(VideoMode::PixelFormat pixelFormat,
bool UsbCameraImpl::SetPixelFormat(wpi::util::PixelFormat pixelFormat,
CS_Status* status) {
Message msg{Message::kCmdSetPixelFormat};
msg.data[0] = pixelFormat;
msg.data[0] = static_cast<int>(pixelFormat);
*status = SendAndWait(std::move(msg));
return *status == CS_OK;
}

6
cscore/src/main/native/linux/UsbCameraImpl.hpp
View File

@@ -17,11 +17,9 @@
#include "SourceImpl.hpp"
#include "UsbCameraBuffer.hpp"
#include "UsbCameraProperty.hpp"
#include "wpi/util/SmallVector.hpp"
#include "wpi/util/PixelFormat.hpp"
#include "wpi/util/condition_variable.hpp"
#include "wpi/util/mutex.hpp"
#include "wpi/util/raw_istream.hpp"
#include "wpi/util/raw_ostream.hpp"
namespace wpi::cs {
@@ -53,7 +51,7 @@ class UsbCameraImpl : public SourceImpl {
void SetExposureManual(int value, CS_Status* status) override;
bool SetVideoMode(const VideoMode& mode, CS_Status* status) override;
bool SetPixelFormat(VideoMode::PixelFormat pixelFormat,
bool SetPixelFormat(wpi::util::PixelFormat pixelFormat,
CS_Status* status) override;
bool SetResolution(int width, int height, CS_Status* status) override;
bool SetFPS(int fps, CS_Status* status) override;