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https://github.com/wpilibsuite/allwpilib
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54 lines
1.6 KiB
C++
54 lines
1.6 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#ifndef CSCORE_RAWSINKIMPL_HPP_
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#define CSCORE_RAWSINKIMPL_HPP_
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#include <stdint.h>
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#include <atomic>
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#include <functional>
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#include <string_view>
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#include <thread>
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#include "Frame.hpp"
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#include "SinkImpl.hpp"
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#include "wpi/cs/cscore_raw.h"
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#include "wpi/util/condition_variable.hpp"
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namespace wpi::cs {
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class SourceImpl;
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class RawSinkImpl : public SinkImpl {
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public:
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RawSinkImpl(std::string_view name, wpi::util::Logger& logger,
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Notifier& notifier, Telemetry& telemetry);
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RawSinkImpl(std::string_view name, wpi::util::Logger& logger,
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Notifier& notifier, Telemetry& telemetry,
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std::function<void(uint64_t time)> processFrame);
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~RawSinkImpl() override;
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void Stop();
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uint64_t GrabFrame(WPI_RawFrame& frame);
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uint64_t GrabFrame(WPI_RawFrame& frame, double timeout);
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// Wait for a frame with a time other than lastFrameTime
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uint64_t GrabFrame(WPI_RawFrame& frame, double timeout,
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uint64_t lastFrameTime);
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private:
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void ThreadMain();
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// Copies the image from incomingFrame into rawFrame, converting where
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// necessary to the resolution of rawFrame
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uint64_t GrabFrameImpl(WPI_RawFrame& rawFrame, Frame& incomingFrame);
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std::atomic_bool m_active; // set to false to terminate threads
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std::thread m_thread;
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std::function<void(uint64_t time)> m_processFrame;
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};
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} // namespace wpi::cs
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#endif // CSCORE_RAWSINKIMPL_HPP_
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