mirror of
https://github.com/wpilibsuite/allwpilib
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216 lines
8.2 KiB
C++
216 lines
8.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2015. 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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#ifndef CAMERASERVER_CPP_H_
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#define CAMERASERVER_CPP_H_
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#include <stdint.h>
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#include <functional>
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#include <string>
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#include <vector>
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#include "llvm/ArrayRef.h"
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#include "llvm/SmallVector.h"
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#include "llvm/StringRef.h"
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#include "cameraserver_c.h"
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namespace cv {
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class Mat;
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}
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namespace cs {
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//
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// Handle-based interface for C++. Users are encouraged to use the
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// object oriented interface instead; this interface is intended for use
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// in applications such as JNI which require handle-based access.
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//
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/// USB camera information
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struct USBCameraInfo {
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/// Device number (e.g. N in '/dev/videoN' on Linux)
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int dev;
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/// Path to device if available (e.g. '/dev/video0' on Linux)
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std::string path;
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/// Vendor/model name of the camera as provided by the USB driver
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std::string name;
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};
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/// Video mode
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struct VideoMode : public CS_VideoMode {
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enum PixelFormat {
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kUnknown = CS_PIXFMT_UNKNOWN,
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kMJPEG = CS_PIXFMT_MJPEG,
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kYUYV = CS_PIXFMT_YUYV,
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kRGB565 = CS_PIXFMT_RGB565
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};
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VideoMode() {
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pixelFormat = 0;
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width = 0;
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height = 0;
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fps = 0;
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}
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VideoMode(PixelFormat pixelFormat_, int width_, int height_, int fps_) {
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pixelFormat = pixelFormat_;
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width = width_;
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height = height_;
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fps = fps_;
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}
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explicit operator bool() const { return pixelFormat == kUnknown; }
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};
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//
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// Property Functions
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//
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CS_PropertyType GetPropertyType(CS_Property property, CS_Status* status);
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std::string GetPropertyName(CS_Property property, CS_Status* status);
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llvm::StringRef GetPropertyName(CS_Property property,
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llvm::SmallVectorImpl<char>& buf,
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CS_Status* status);
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int GetProperty(CS_Property property, CS_Status* status);
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void SetProperty(CS_Property property, int value, CS_Status* status);
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int GetPropertyMin(CS_Property property, CS_Status* status);
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int GetPropertyMax(CS_Property property, CS_Status* status);
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int GetPropertyStep(CS_Property property, CS_Status* status);
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int GetPropertyDefault(CS_Property property, CS_Status* status);
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std::string GetStringProperty(CS_Property property, CS_Status* status);
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llvm::StringRef GetStringProperty(CS_Property property,
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llvm::SmallVectorImpl<char>& buf,
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CS_Status* status);
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void SetStringProperty(CS_Property property, llvm::StringRef value,
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CS_Status* status);
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std::vector<std::string> GetEnumPropertyChoices(CS_Property property,
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CS_Status* status);
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//
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// Source Creation Functions
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//
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CS_Source CreateUSBCameraDev(llvm::StringRef name, int dev, CS_Status* status);
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CS_Source CreateUSBCameraPath(llvm::StringRef name, llvm::StringRef path,
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CS_Status* status);
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CS_Source CreateHTTPCamera(llvm::StringRef name, llvm::StringRef url,
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CS_Status* status);
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CS_Source CreateCvSource(llvm::StringRef name, const VideoMode& mode,
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CS_Status* status);
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//
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// Source Functions
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//
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std::string GetSourceName(CS_Source source, CS_Status* status);
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llvm::StringRef GetSourceName(CS_Source source,
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llvm::SmallVectorImpl<char>& buf,
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CS_Status* status);
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std::string GetSourceDescription(CS_Source source, CS_Status* status);
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llvm::StringRef GetSourceDescription(CS_Source source,
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llvm::SmallVectorImpl<char>& buf,
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CS_Status* status);
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uint64_t GetSourceLastFrameTime(CS_Source source, CS_Status* status);
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bool IsSourceConnected(CS_Source source, CS_Status* status);
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CS_Property GetSourceProperty(CS_Source source, llvm::StringRef name,
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CS_Status* status);
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llvm::ArrayRef<CS_Property> EnumerateSourceProperties(
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CS_Source source, llvm::SmallVectorImpl<CS_Property>& vec,
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CS_Status* status);
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VideoMode GetSourceVideoMode(CS_Source source, CS_Status* status);
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bool SetSourceVideoMode(CS_Source source, const VideoMode& mode,
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CS_Status* status);
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bool SetSourcePixelFormat(CS_Source source, VideoMode::PixelFormat pixelFormat,
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CS_Status* status);
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bool SetSourceResolution(CS_Source source, int width, int height,
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CS_Status* status);
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bool SetSourceFPS(CS_Source source, int fps, CS_Status* status);
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std::vector<VideoMode> EnumerateSourceVideoModes(CS_Source source,
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CS_Status* status);
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CS_Source CopySource(CS_Source source, CS_Status* status);
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void ReleaseSource(CS_Source source, CS_Status* status);
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//
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// OpenCV Source Functions
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//
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void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status);
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void NotifySourceError(CS_Source source, llvm::StringRef msg,
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CS_Status* status);
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void SetSourceConnected(CS_Source source, bool connected, CS_Status* status);
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CS_Property CreateSourceProperty(CS_Source source, llvm::StringRef name,
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CS_PropertyType type, CS_Status* status);
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CS_Property CreateSourcePropertyCallback(
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CS_Source source, llvm::StringRef name, CS_PropertyType type,
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std::function<void(CS_Property property)> onChange, CS_Status* status);
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void RemoveSourceProperty(CS_Source source, CS_Property property,
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CS_Status* status);
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void RemoveSourceProperty(CS_Source source, llvm::StringRef name,
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CS_Status* status);
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//
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// Sink Creation Functions
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//
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CS_Sink CreateMJPEGServer(llvm::StringRef name, llvm::StringRef listenAddress,
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int port, CS_Status* status);
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CS_Sink CreateCvSink(llvm::StringRef name, CS_Status* status);
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CS_Sink CreateCvSinkCallback(llvm::StringRef name,
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std::function<void(uint64_t time)> processFrame,
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CS_Status* status);
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//
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// Sink Functions
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//
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std::string GetSinkName(CS_Sink sink, CS_Status* status);
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llvm::StringRef GetSinkName(CS_Sink sink, llvm::SmallVectorImpl<char>& buf,
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CS_Status* status);
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std::string GetSinkDescription(CS_Sink sink, CS_Status* status);
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llvm::StringRef GetSinkDescription(CS_Sink sink,
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llvm::SmallVectorImpl<char>& buf,
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CS_Status* status);
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void SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status);
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CS_Property GetSinkSourceProperty(CS_Sink sink, llvm::StringRef name,
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CS_Status* status);
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CS_Source GetSinkSource(CS_Sink sink, CS_Status* status);
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CS_Sink CopySink(CS_Sink sink, CS_Status* status);
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void ReleaseSink(CS_Sink sink, CS_Status* status);
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//
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// OpenCV Sink Functions
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//
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uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat& image, CS_Status* status);
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std::string GetSinkError(CS_Sink sink, CS_Status* status);
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llvm::StringRef GetSinkError(CS_Sink sink, llvm::SmallVectorImpl<char>& buf,
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CS_Status* status);
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void SetSinkEnabled(CS_Sink sink, bool enabled, CS_Status* status);
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//
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// Listener Functions
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//
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CS_Listener AddSourceListener(
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std::function<void(llvm::StringRef name, CS_Source source, int event)>
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callback,
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int eventMask, CS_Status* status);
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void RemoveSourceListener(CS_Listener handle, CS_Status* status);
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CS_Listener AddSinkListener(
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std::function<void(llvm::StringRef name, CS_Sink sink, int event)> callback,
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int eventMask, CS_Status* status);
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void RemoveSinkListener(CS_Listener handle, CS_Status* status);
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//
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// Utility Functions
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//
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std::vector<USBCameraInfo> EnumerateUSBCameras(CS_Status* status);
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llvm::ArrayRef<CS_Source> EnumerateSourceHandles(
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llvm::SmallVectorImpl<CS_Source>& vec, CS_Status* status);
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llvm::ArrayRef<CS_Sink> EnumerateSinkHandles(
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llvm::SmallVectorImpl<CS_Sink>& vec, CS_Status* status);
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} // namespace cs
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#endif /* CAMERASERVER_CPP_H_ */
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