Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

66
cscore/src/main/native/cpp/SinkImpl.cpp
View File

@@ -4,11 +4,13 @@
#include "SinkImpl.h"
#include <wpi/SmallString.h>
#include <wpi/json.h>
#include "Instance.h"
#include "Notifier.h"
#include "SourceImpl.h"
#include "c_util.h"
using namespace cs;
@@ -195,3 +197,67 @@ void SinkImpl::UpdatePropertyValue(int property, bool setString, int value,
}
void SinkImpl::SetSourceImpl(std::shared_ptr<SourceImpl> source) {}
namespace cs {
static constexpr unsigned SinkMask = CS_SINK_CV | CS_SINK_RAW;
void SetSinkDescription(CS_Sink sink, std::string_view description,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}
data->sink->SetDescription(description);
}
std::string GetSinkError(CS_Sink sink, CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return std::string{};
}
return data->sink->GetError();
}
std::string_view GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return {};
}
return data->sink->GetError(buf);
}
void SetSinkEnabled(CS_Sink sink, bool enabled, CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}
data->sink->SetEnabled(enabled);
}
} // namespace cs
extern "C" {
void CS_SetSinkDescription(CS_Sink sink, const char* description,
CS_Status* status) {
return cs::SetSinkDescription(sink, description, status);
}
char* CS_GetSinkError(CS_Sink sink, CS_Status* status) {
wpi::SmallString<128> buf;
auto str = cs::GetSinkError(sink, buf, status);
if (*status != 0) {
return nullptr;
}
return cs::ConvertToC(str);
}
void CS_SetSinkEnabled(CS_Sink sink, CS_Bool enabled, CS_Status* status) {
return cs::SetSinkEnabled(sink, enabled, status);
}
} // extern "C"