mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
83 lines
2.6 KiB
C++
83 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "USBCamera.h"
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#include "ErrorBase.h"
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#include "nivision.h"
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#include "NIIMAQdx.h"
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#include "HAL/cpp/priority_mutex.h"
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#include <thread>
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#include <memory>
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#include <condition_variable>
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#include <tuple>
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#include <vector>
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class CameraServer : public ErrorBase {
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private:
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static constexpr uint16_t kPort = 1180;
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static constexpr uint8_t kMagicNumber[] = {0x01, 0x00, 0x00, 0x00};
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static constexpr uint32_t kSize640x480 = 0;
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static constexpr uint32_t kSize320x240 = 1;
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static constexpr uint32_t kSize160x120 = 2;
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static constexpr int32_t kHardwareCompression = -1;
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static constexpr uint32_t kMaxImageSize = 200000;
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protected:
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CameraServer();
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std::shared_ptr<USBCamera> m_camera;
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std::thread m_serverThread;
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std::thread m_captureThread;
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priority_recursive_mutex m_imageMutex;
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std::condition_variable_any m_newImageVariable;
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std::vector<uint8_t*> m_dataPool;
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unsigned int m_quality;
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bool m_autoCaptureStarted;
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bool m_hwClient;
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std::tuple<uint8_t*, unsigned int, unsigned int, bool> m_imageData;
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void Serve();
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void AutoCapture();
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void SetImageData(uint8_t* data, unsigned int size, unsigned int start = 0,
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bool imaqData = false);
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void FreeImageData(
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std::tuple<uint8_t*, unsigned int, unsigned int, bool> imageData);
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struct Request {
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uint32_t fps;
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int32_t compression;
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uint32_t size;
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};
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public:
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static CameraServer* GetInstance();
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void SetImage(Image const* image);
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void StartAutomaticCapture(
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char const* cameraName = USBCamera::kDefaultCameraName);
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/**
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* Start automatically capturing images to send to the dashboard.
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*
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* You should call this method to just see a camera feed on the
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* dashboard without doing any vision processing on the roboRIO.
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* {@link #SetImage} should not be called after this is called.
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*
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* @param camera The camera interface (eg. USBCamera)
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*/
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void StartAutomaticCapture(std::shared_ptr<USBCamera> camera);
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bool IsAutoCaptureStarted();
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void SetQuality(unsigned int quality);
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unsigned int GetQuality();
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void SetSize(unsigned int size);
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};
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