mirror of
https://github.com/wpilibsuite/allwpilib
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60 lines
1.7 KiB
C++
60 lines
1.7 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 "ErrorBase.h"
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#include "nivision.h"
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#include "NIIMAQdx.h"
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#include <vector>
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#include <thread>
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#include <mutex>
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#include <condition_variable>
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/**
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* Class that runs a TCP server that serves an M-JPEG stream to the dashboard.
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*/
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class CameraServer : public ErrorBase {
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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 char const *kDefaultCameraName = "cam0";
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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(char const *cameraName = kDefaultCameraName);
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void SetQuality(unsigned int quality);
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unsigned int GetQuality() const;
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protected:
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CameraServer();
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void serve();
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std::thread m_serverThread;
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std::recursive_mutex m_imageMutex;
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std::condition_variable_any m_newImageReady;
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std::vector<uint8_t> m_imageData;
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unsigned int m_quality;
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bool m_autoCaptureStarted;
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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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static CameraServer *s_instance;
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};
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