mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
50 lines
1.3 KiB
C++
50 lines
1.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#ifndef CSCORE_RAWSINKIMPL_H_
|
|
#define CSCORE_RAWSINKIMPL_H_
|
|
|
|
#include <stdint.h>
|
|
|
|
#include <atomic>
|
|
#include <functional>
|
|
#include <string_view>
|
|
#include <thread>
|
|
|
|
#include <wpi/condition_variable.h>
|
|
|
|
#include "Frame.h"
|
|
#include "SinkImpl.h"
|
|
#include "cscore_raw.h"
|
|
|
|
namespace cs {
|
|
class SourceImpl;
|
|
|
|
class RawSinkImpl : public SinkImpl {
|
|
public:
|
|
RawSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
|
|
Telemetry& telemetry);
|
|
RawSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
|
|
Telemetry& telemetry,
|
|
std::function<void(uint64_t time)> processFrame);
|
|
~RawSinkImpl() override;
|
|
|
|
void Stop();
|
|
|
|
uint64_t GrabFrame(WPI_RawFrame& frame);
|
|
uint64_t GrabFrame(WPI_RawFrame& frame, double timeout);
|
|
|
|
private:
|
|
void ThreadMain();
|
|
|
|
uint64_t GrabFrameImpl(WPI_RawFrame& rawFrame, Frame& incomingFrame);
|
|
|
|
std::atomic_bool m_active; // set to false to terminate threads
|
|
std::thread m_thread;
|
|
std::function<void(uint64_t time)> m_processFrame;
|
|
};
|
|
} // namespace cs
|
|
|
|
#endif // CSCORE_RAWSINKIMPL_H_
|