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[cscore] Use Raw for CvSink and CvSource (#6364)

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Eventually we want to get to a point where we can remove OpenCV from the internals of cscore. The start to doing that is converting the existing CvSource and CvSink methods to RawFrame.

For CvSource, this is 100% a free operation. We can do everything the existing code could have done (with one small exception we can fairly easily fix).

For CvSink, by defaut this change would incur one extra copy, but no extra allocations. A set of direct methods were added to CvSink to add a method to avoid this extra copy.
This commit is contained in:
Thad House
2024-02-12 22:33:03 -08:00
committed by GitHub
parent 4f9d73783b
commit fb947fe998
28 changed files with 666 additions and 1203 deletions
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29
cscore/src/main/native/cpp/RawSinkImpl.cpp
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@@ -143,25 +143,28 @@ void RawSinkImpl::ThreadMain() {
}
namespace cs {
CS_Sink CreateRawSink(std::string_view name, CS_Status* status) {
static constexpr unsigned SinkMask = CS_SINK_CV | CS_SINK_RAW;
CS_Sink CreateRawSink(std::string_view name, bool isCv, CS_Status* status) {
auto& inst = Instance::GetInstance();
return inst.CreateSink(CS_SINK_RAW,
return inst.CreateSink(isCv ? CS_SINK_CV : CS_SINK_RAW,
std::make_shared<RawSinkImpl>(
name, inst.logger, inst.notifier, inst.telemetry));
}
CS_Sink CreateRawSinkCallback(std::string_view name,
CS_Sink CreateRawSinkCallback(std::string_view name, bool isCv,
std::function<void(uint64_t time)> processFrame,
CS_Status* status) {
auto& inst = Instance::GetInstance();
return inst.CreateSink(CS_SINK_RAW, std::make_shared<RawSinkImpl>(
name, inst.logger, inst.notifier,
inst.telemetry, processFrame));
return inst.CreateSink(
isCv ? CS_SINK_CV : CS_SINK_RAW,
std::make_shared<RawSinkImpl>(name, inst.logger, inst.notifier,
inst.telemetry, processFrame));
}
uint64_t GrabSinkFrame(CS_Sink sink, WPI_RawFrame& image, CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || data->kind != CS_SINK_RAW) {
if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return 0;
}
@@ -171,25 +174,26 @@ uint64_t GrabSinkFrame(CS_Sink sink, WPI_RawFrame& image, CS_Status* status) {
uint64_t GrabSinkFrameTimeout(CS_Sink sink, WPI_RawFrame& image, double timeout,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || data->kind != CS_SINK_RAW) {
if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return 0;
}
return static_cast<RawSinkImpl&>(*data->sink).GrabFrame(image, timeout);
}
} // namespace cs
extern "C" {
CS_Sink CS_CreateRawSink(const char* name, CS_Status* status) {
return cs::CreateRawSink(name, status);
CS_Sink CS_CreateRawSink(const char* name, CS_Bool isCv, CS_Status* status) {
return cs::CreateRawSink(name, isCv, status);
}
CS_Sink CS_CreateRawSinkCallback(const char* name, void* data,
CS_Sink CS_CreateRawSinkCallback(const char* name, CS_Bool isCv, void* data,
void (*processFrame)(void* data,
uint64_t time),
CS_Status* status) {
return cs::CreateRawSinkCallback(
name, [=](uint64_t time) { processFrame(data, time); }, status);
name, isCv, [=](uint64_t time) { processFrame(data, time); }, status);
}
uint64_t CS_GrabRawSinkFrame(CS_Sink sink, struct WPI_RawFrame* image,
@@ -201,4 +205,5 @@ uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct WPI_RawFrame* image,
double timeout, CS_Status* status) {
return cs::GrabSinkFrameTimeout(sink, *image, timeout, status);
}
} // extern "C"