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5eecbfd9bf1e2bea07b3597c7049adeface63e61
allwpilib/include/cscore_c.h
Peter Johnson bad4ca4666 Add event for network interfaces change.
2016-11-18 12:41:08 -08:00

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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#ifndef CSCORE_C_H_
#define CSCORE_C_H_
#include <stddef.h>
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
struct CvMat;
//
// The C API is handle-based. Sources and sinks are reference counted
// internally to the library. Any time a source or sink handle is returned
// or provided to a callback, the reference count is incremented.
// Calling CS_ReleaseSource() or CS_ReleaseSink() decrements the reference
// count, and when the reference count reaches zero, the object is destroyed.
// Connecting a source to a sink increments the reference count of the source,
// and when the sink is destroyed (its reference count reaches zero), the
// source reference count is decremented.
//
//
// Typedefs
//
typedef int CS_Bool;
typedef int CS_Status;
typedef int CS_Handle;
typedef CS_Handle CS_Property;
typedef CS_Handle CS_Listener;
typedef CS_Handle CS_Sink;
typedef CS_Handle CS_Source;
//
// Status values
//
enum CS_StatusValue {
CS_PROPERTY_WRITE_FAILED = 2000,
CS_OK = 0,
CS_INVALID_HANDLE = -2000, // handle was invalid (does not exist)
CS_WRONG_HANDLE_SUBTYPE = -2001,
CS_INVALID_PROPERTY = -2002,
CS_WRONG_PROPERTY_TYPE = -2003,
CS_READ_FAILED = -2004,
CS_SOURCE_IS_DISCONNECTED = -2005
};
//
// Pixel formats
//
enum CS_PixelFormat {
CS_PIXFMT_UNKNOWN = 0,
CS_PIXFMT_MJPEG,
CS_PIXFMT_YUYV,
CS_PIXFMT_RGB565
};
//
// Frame formats
//
typedef struct CS_VideoMode {
int pixelFormat;
int width;
int height;
int fps;
} CS_VideoMode;
//
// Property kinds
//
enum CS_PropertyKind {
CS_PROP_NONE = 0,
CS_PROP_BOOLEAN = 1,
CS_PROP_INTEGER = 2,
CS_PROP_STRING = 4,
CS_PROP_ENUM = 8
};
//
// Source kinds
//
enum CS_SourceKind {
CS_SOURCE_UNKNOWN = 0,
CS_SOURCE_USB = 1,
CS_SOURCE_HTTP = 2,
CS_SOURCE_CV = 4
};
//
// Sink kinds
//
enum CS_SinkKind {
CS_SINK_UNKNOWN = 0,
CS_SINK_MJPEG = 2,
CS_SINK_CV = 4
};
//
// Listener event kinds
//
enum CS_EventKind {
CS_SOURCE_CREATED = 0x0001,
CS_SOURCE_DESTROYED = 0x0002,
CS_SOURCE_CONNECTED = 0x0004,
CS_SOURCE_DISCONNECTED = 0x0008,
CS_SOURCE_VIDEOMODES_UPDATED = 0x0010,
CS_SOURCE_VIDEOMODE_CHANGED = 0x0020,
CS_SOURCE_PROPERTY_CREATED = 0x0040,
CS_SOURCE_PROPERTY_VALUE_UPDATED = 0x0080,
CS_SOURCE_PROPERTY_CHOICES_UPDATED = 0x0100,
CS_SINK_SOURCE_CHANGED = 0x0200,
CS_SINK_CREATED = 0x0400,
CS_SINK_DESTROYED = 0x0800,
CS_SINK_ENABLED = 0x1000,
CS_SINK_DISABLED = 0x2000,
CS_NETWORK_INTERFACES_CHANGED = 0x4000
};
//
// Listener event
//
struct CS_Event {
CS_EventKind kind;
// Valid for CS_SOURCE_* and CS_SINK_* respectively
CS_Source source;
CS_Sink sink;
// Source/sink name
const char *name;
// Fields for CS_SOURCE_VIDEOMODE_CHANGED event
CS_VideoMode mode;
// Fields for CS_SOURCE_PROPERTY_* events
CS_Property property;
CS_PropertyKind propertyKind;
int value;
const char* valueStr;
};
//
// Property Functions
//
enum CS_PropertyKind CS_GetPropertyKind(CS_Property property,
CS_Status* status);
char* CS_GetPropertyName(CS_Property property, CS_Status* status);
int CS_GetProperty(CS_Property property, CS_Status* status);
void CS_SetProperty(CS_Property property, int value, CS_Status* status);
int CS_GetPropertyMin(CS_Property property, CS_Status* status);
int CS_GetPropertyMax(CS_Property property, CS_Status* status);
int CS_GetPropertyStep(CS_Property property, CS_Status* status);
int CS_GetPropertyDefault(CS_Property property, CS_Status* status);
char* CS_GetStringProperty(CS_Property property, CS_Status* status);
void CS_SetStringProperty(CS_Property property, const char* value,
CS_Status* status);
char** CS_GetEnumPropertyChoices(CS_Property property, int* count,
CS_Status* status);
//
// Source Creation Functions
//
CS_Source CS_CreateUSBCameraDev(const char* name, int dev, CS_Status* status);
CS_Source CS_CreateUSBCameraPath(const char* name, const char* path,
CS_Status* status);
CS_Source CS_CreateHTTPCamera(const char* name, const char* url,
CS_Status* status);
CS_Source CS_CreateCvSource(const char* name, const CS_VideoMode* mode,
CS_Status* status);
//
// Source Functions
//
CS_SourceKind CS_GetSourceKind(CS_Source source, CS_Status* status);
char* CS_GetSourceName(CS_Source source, CS_Status* status);
char* CS_GetSourceDescription(CS_Source source, CS_Status* status);
uint64_t CS_GetSourceLastFrameTime(CS_Source source, CS_Status* status);
CS_Bool CS_IsSourceConnected(CS_Source source, CS_Status* status);
CS_Property CS_GetSourceProperty(CS_Source source, const char* name,
CS_Status* status);
CS_Property* CS_EnumerateSourceProperties(CS_Source source, int* count,
CS_Status* status);
void CS_GetSourceVideoMode(CS_Source source, CS_VideoMode* mode,
CS_Status* status);
CS_Bool CS_SetSourceVideoMode(CS_Source source, const CS_VideoMode* mode,
CS_Status* status);
CS_Bool CS_SetSourceVideoModeDiscrete(CS_Source source,
enum CS_PixelFormat pixelFormat,
int width, int height, int fps,
CS_Status* status);
CS_Bool CS_SetSourcePixelFormat(CS_Source source,
enum CS_PixelFormat pixelFormat,
CS_Status* status);
CS_Bool CS_SetSourceResolution(CS_Source source, int width, int height,
CS_Status* status);
CS_Bool CS_SetSourceFPS(CS_Source source, int fps, CS_Status* status);
CS_VideoMode* CS_EnumerateSourceVideoModes(CS_Source source, int* count,
CS_Status* status);
CS_Sink* CS_EnumerateSourceSinks(CS_Source source, int* count,
CS_Status* status);
CS_Source CS_CopySource(CS_Source source, CS_Status* status);
void CS_ReleaseSource(CS_Source source, CS_Status* status);
//
// OpenCV Source Functions
//
void CS_PutSourceFrame(CS_Source source, struct CvMat* image,
CS_Status* status);
void CS_NotifySourceError(CS_Source source, const char* msg, CS_Status* status);
void CS_SetSourceConnected(CS_Source source, CS_Bool connected,
CS_Status* status);
void CS_SetSourceDescription(CS_Source source, const char* description,
CS_Status* status);
CS_Property CS_CreateSourceProperty(CS_Source source, const char* name,
enum CS_PropertyKind kind, int minimum,
int maximum, int step, int defaultValue,
int value, CS_Status* status);
void CS_SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
const char** choices, int count,
CS_Status* status);
//
// Sink Creation Functions
//
CS_Sink CS_CreateMJPEGServer(const char* name, const char* listenAddress,
int port, CS_Status* status);
CS_Sink CS_CreateCvSink(const char* name, CS_Status* status);
CS_Sink CS_CreateCvSinkCallback(const char* name, void* data,
void (*processFrame)(void* data, uint64_t time),
CS_Status* status);
//
// Sink Functions
//
CS_SinkKind CS_GetSinkKind(CS_Sink sink, CS_Status* status);
char* CS_GetSinkName(CS_Sink sink, CS_Status* status);
char* CS_GetSinkDescription(CS_Sink sink, CS_Status* status);
void CS_SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status);
CS_Property CS_GetSinkSourceProperty(CS_Sink sink, const char* name,
CS_Status* status);
CS_Source CS_GetSinkSource(CS_Sink sink, CS_Status* status);
CS_Sink CS_CopySink(CS_Sink sink, CS_Status* status);
void CS_ReleaseSink(CS_Sink sink, CS_Status* status);
//
// OpenCV Sink Functions
//
void CS_SetSinkDescription(CS_Sink sink, const char* description,
CS_Status* status);
uint64_t CS_GrabSinkFrame(CS_Sink sink, struct CvMat* image, CS_Status* status);
char* CS_GetSinkError(CS_Sink sink, CS_Status* status);
void CS_SetSinkEnabled(CS_Sink sink, CS_Bool enabled, CS_Status* status);
//
// Listener Functions
//
void CS_SetListenerOnStart(void (*onStart)(void* data), void* data);
void CS_SetListenerOnExit(void (*onExit)(void* data), void* data);
CS_Listener CS_AddListener(void* data,
void (*callback)(void* data, const CS_Event* event),
int eventMask, int immediateNotify,
CS_Status* status);
void CS_RemoveListener(CS_Listener handle, CS_Status* status);
int CS_NotifierDestroyed(void);
//
// Utility Functions
//
typedef struct CS_USBCameraInfo {
int dev;
char* path;
char* name;
} CS_USBCameraInfo;
CS_USBCameraInfo* CS_EnumerateUSBCameras(int* count, CS_Status* status);
void CS_FreeEnumeratedUSBCameras(CS_USBCameraInfo* cameras, int count);
CS_Source* CS_EnumerateSources(int* count, CS_Status* status);
void CS_ReleaseEnumeratedSources(CS_Source* sources, int count);
CS_Sink* CS_EnumerateSinks(int* count, CS_Status* status);
void CS_ReleaseEnumeratedSinks(CS_Sink* sinks, int count);
void CS_FreeString(char* str);
void CS_FreeEnumPropertyChoices(char** choices, int count);
void CS_FreeEnumeratedProperties(CS_Property* properties, int count);
void CS_FreeEnumeratedVideoModes(CS_VideoMode* modes, int count);
char* CS_GetHostname();
char** CS_GetNetworkInterfaces(int* count);
void CS_FreeNetworkInterfaces(char** interfaces, int count);
#ifdef __cplusplus
}
#endif
#endif /* CSCORE_C_H_ */
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