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https://github.com/wpilibsuite/allwpilib
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e27d6d7bb8
This avoids a number of shutdown use-after-free races by controlling the destruction order. It also is a prerequisite to making the internal interfaces mockable for unit testing.
53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 FIRST. 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 CSCORE_CVSINKIMPL_H_
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#define CSCORE_CVSINKIMPL_H_
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#include <stdint.h>
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#include <atomic>
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#include <functional>
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#include <thread>
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#include <opencv2/core/core.hpp>
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#include <wpi/Twine.h>
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#include <wpi/condition_variable.h>
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#include "Frame.h"
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#include "SinkImpl.h"
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namespace cs {
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class SourceImpl;
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class CvSinkImpl : public SinkImpl {
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public:
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CvSinkImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
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Telemetry& telemetry);
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CvSinkImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
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Telemetry& telemetry,
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std::function<void(uint64_t time)> processFrame);
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~CvSinkImpl() override;
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void Stop();
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uint64_t GrabFrame(cv::Mat& image);
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uint64_t GrabFrame(cv::Mat& image, double timeout);
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private:
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void ThreadMain();
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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 cs
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#endif // CSCORE_CVSINKIMPL_H_
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