Add raw sources and sinks to cscore (#1670)

In some cases, we don't want the cv requirement to get an image, for instance interop with other versions of opencv

This enables getting a raw image, and handling conversions from the user side.

cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp

@@ -0,0 +1,109 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "ConfigurableSourceImpl.h"
+
+#include <wpi/timestamp.h>
+
+#include "Handle.h"
+#include "Instance.h"
+#include "Log.h"
+#include "Notifier.h"
+
+using namespace cs;
+
+ConfigurableSourceImpl::ConfigurableSourceImpl(const wpi::Twine& name,
+                                               wpi::Logger& logger,
+                                               Notifier& notifier,
+                                               Telemetry& telemetry,
+                                               const VideoMode& mode)
+    : SourceImpl{name, logger, notifier, telemetry} {
+  m_mode = mode;
+  m_videoModes.push_back(m_mode);
+}
+
+ConfigurableSourceImpl::~ConfigurableSourceImpl() {}
+
+void ConfigurableSourceImpl::Start() {
+  m_notifier.NotifySource(*this, CS_SOURCE_CONNECTED);
+  m_notifier.NotifySource(*this, CS_SOURCE_VIDEOMODES_UPDATED);
+  m_notifier.NotifySourceVideoMode(*this, m_mode);
+}
+
+bool ConfigurableSourceImpl::SetVideoMode(const VideoMode& mode,
+                                          CS_Status* status) {
+  {
+    std::lock_guard<wpi::mutex> lock(m_mutex);
+    m_mode = mode;
+    m_videoModes[0] = mode;
+  }
+  m_notifier.NotifySourceVideoMode(*this, mode);
+  return true;
+}
+
+void ConfigurableSourceImpl::NumSinksChanged() {
+  // ignore
+}
+
+void ConfigurableSourceImpl::NumSinksEnabledChanged() {
+  // ignore
+}
+
+void ConfigurableSourceImpl::NotifyError(const wpi::Twine& msg) {
+  PutError(msg, wpi::Now());
+}
+
+int ConfigurableSourceImpl::CreateProperty(const wpi::Twine& name,
+                                           CS_PropertyKind kind, int minimum,
+                                           int maximum, int step,
+                                           int defaultValue, int value) {
+  std::lock_guard<wpi::mutex> lock(m_mutex);
+  int ndx = CreateOrUpdateProperty(name,
+                                   [=] {
+                                     return wpi::make_unique<PropertyImpl>(
+                                         name, kind, minimum, maximum, step,
+                                         defaultValue, value);
+                                   },
+                                   [&](PropertyImpl& prop) {
+                                     // update all but value
+                                     prop.propKind = kind;
+                                     prop.minimum = minimum;
+                                     prop.maximum = maximum;
+                                     prop.step = step;
+                                     prop.defaultValue = defaultValue;
+                                     value = prop.value;
+                                   });
+  m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CREATED, name, ndx,
+                                  kind, value, wpi::Twine{});
+  return ndx;
+}
+
+int ConfigurableSourceImpl::CreateProperty(
+    const wpi::Twine& name, CS_PropertyKind kind, int minimum, int maximum,
+    int step, int defaultValue, int value,
+    std::function<void(CS_Property property)> onChange) {
+  // TODO
+  return 0;
+}
+
+void ConfigurableSourceImpl::SetEnumPropertyChoices(
+    int property, wpi::ArrayRef<std::string> choices, CS_Status* status) {
+  std::lock_guard<wpi::mutex> lock(m_mutex);
+  auto prop = GetProperty(property);
+  if (!prop) {
+    *status = CS_INVALID_PROPERTY;
+    return;
+  }
+  if (prop->propKind != CS_PROP_ENUM) {
+    *status = CS_WRONG_PROPERTY_TYPE;
+    return;
+  }
+  prop->enumChoices = choices;
+  m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CHOICES_UPDATED,
+                                  prop->name, property, CS_PROP_ENUM,
+                                  prop->value, wpi::Twine{});
+}