Prepare cscore for merge into allwpilib.

2026-06-19 00:41:43 +00:00 · 2017-12-20 19:28:58 -08:00
parent 6d3d52f923
commit ea73c10cd8
166 changed files with 0 additions and 335 deletions
--- a/cscore/src/main/native/cpp/HttpCameraImpl.h
+++ b/cscore/src/main/native/cpp/HttpCameraImpl.h
@@ -0,0 +1,155 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#ifndef CSCORE_HTTPCAMERAIMPL_H_
+#define CSCORE_HTTPCAMERAIMPL_H_
+
+#include <atomic>
+#include <functional>
+#include <initializer_list>
+#include <memory>
+#include <string>
+#include <thread>
+#include <vector>
+
+#include <llvm/SmallString.h>
+#include <llvm/StringMap.h>
+#include <support/HttpUtil.h>
+#include <support/condition_variable.h>
+#include <support/raw_istream.h>
+
+#include "SourceImpl.h"
+#include "cscore_cpp.h"
+
+namespace cs {
+
+class HttpCameraImpl : public SourceImpl {
+ public:
+  HttpCameraImpl(llvm::StringRef name, CS_HttpCameraKind kind);
+  ~HttpCameraImpl() override;
+
+  void Start();
+
+  // Property functions
+  void SetProperty(int property, int value, CS_Status* status) override;
+  void SetStringProperty(int property, llvm::StringRef value,
+                         CS_Status* status) override;
+
+  // Standard common camera properties
+  void SetBrightness(int brightness, CS_Status* status) override;
+  int GetBrightness(CS_Status* status) const override;
+  void SetWhiteBalanceAuto(CS_Status* status) override;
+  void SetWhiteBalanceHoldCurrent(CS_Status* status) override;
+  void SetWhiteBalanceManual(int value, CS_Status* status) override;
+  void SetExposureAuto(CS_Status* status) override;
+  void SetExposureHoldCurrent(CS_Status* status) override;
+  void SetExposureManual(int value, CS_Status* status) override;
+
+  bool SetVideoMode(const VideoMode& mode, CS_Status* status) override;
+
+  void NumSinksChanged() override;
+  void NumSinksEnabledChanged() override;
+
+  CS_HttpCameraKind GetKind() const;
+  bool SetUrls(llvm::ArrayRef<std::string> urls, CS_Status* status);
+  std::vector<std::string> GetUrls() const;
+
+  // Property data
+  class PropertyData : public PropertyImpl {
+   public:
+    PropertyData() = default;
+    explicit PropertyData(llvm::StringRef name_) : PropertyImpl{name_} {}
+    PropertyData(llvm::StringRef name_, llvm::StringRef httpParam_,
+                 bool viaSettings_, CS_PropertyKind kind_, int minimum_,
+                 int maximum_, int step_, int defaultValue_, int value_)
+        : PropertyImpl(name_, kind_, step_, defaultValue_, value_),
+          viaSettings(viaSettings_),
+          httpParam(httpParam_) {
+      hasMinimum = true;
+      minimum = minimum_;
+      hasMaximum = true;
+      maximum = maximum_;
+    }
+    ~PropertyData() override = default;
+
+    bool viaSettings{false};
+    std::string httpParam;
+  };
+
+ protected:
+  std::unique_ptr<PropertyImpl> CreateEmptyProperty(
+      llvm::StringRef name) const override;
+
+  bool CacheProperties(CS_Status* status) const override;
+
+  void CreateProperty(llvm::StringRef name, llvm::StringRef httpParam,
+                      bool viaSettings, CS_PropertyKind kind, int minimum,
+                      int maximum, int step, int defaultValue, int value) const;
+
+  template <typename T>
+  void CreateEnumProperty(llvm::StringRef name, llvm::StringRef httpParam,
+                          bool viaSettings, int defaultValue, int value,
+                          std::initializer_list<T> choices) const;
+
+ private:
+  // The camera streaming thread
+  void StreamThreadMain();
+
+  // Functions used by StreamThreadMain()
+  wpi::HttpConnection* DeviceStreamConnect(
+      llvm::SmallVectorImpl<char>& boundary);
+  void DeviceStream(wpi::raw_istream& is, llvm::StringRef boundary);
+  bool DeviceStreamFrame(wpi::raw_istream& is, std::string& imageBuf);
+
+  // The camera settings thread
+  void SettingsThreadMain();
+  void DeviceSendSettings(wpi::HttpRequest& req);
+
+  std::atomic_bool m_connected{false};
+  std::atomic_bool m_active{true};  // set to false to terminate thread
+  std::thread m_streamThread;
+  std::thread m_settingsThread;
+
+  //
+  // Variables protected by m_mutex
+  //
+
+  // The camera connections
+  std::unique_ptr<wpi::HttpConnection> m_streamConn;
+  std::unique_ptr<wpi::HttpConnection> m_settingsConn;
+
+  CS_HttpCameraKind m_kind;
+
+  std::vector<wpi::HttpLocation> m_locations;
+  size_t m_nextLocation{0};
+  int m_prefLocation{-1};  // preferred location
+
+  wpi::condition_variable m_sinkEnabledCond;
+
+  llvm::StringMap<llvm::SmallString<16>> m_settings;
+  wpi::condition_variable m_settingsCond;
+
+  llvm::StringMap<llvm::SmallString<16>> m_streamSettings;
+  std::atomic_bool m_streamSettingsUpdated{false};
+};
+
+class AxisCameraImpl : public HttpCameraImpl {
+ public:
+  explicit AxisCameraImpl(llvm::StringRef name)
+      : HttpCameraImpl{name, CS_HTTP_AXIS} {}
+#if 0
+  void SetProperty(int property, int value, CS_Status* status) override;
+  void SetStringProperty(int property, llvm::StringRef value,
+                         CS_Status* status) override;
+#endif
+ protected:
+  bool CacheProperties(CS_Status* status) const override;
+};
+
+}  // namespace cs
+
+#endif  // CSCORE_HTTPCAMERAIMPL_H_