mirror of
https://github.com/wpilibsuite/allwpilib
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120 lines
4.1 KiB
C++
120 lines
4.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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_USBCAMERAIMPL_H_
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#define CAMERASERVER_USBCAMERAIMPL_H_
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#include <atomic>
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#include <thread>
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#ifdef __linux__
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#include <linux/videodev2.h>
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#endif
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#include "llvm/raw_ostream.h"
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#include "llvm/DenseMap.h"
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#include "llvm/SmallVector.h"
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#include "llvm/StringMap.h"
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#include "support/raw_istream.h"
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#include "SourceImpl.h"
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namespace cs {
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class USBCameraImpl : public SourceImpl {
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public:
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USBCameraImpl(llvm::StringRef name, llvm::StringRef path);
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~USBCameraImpl() override;
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llvm::StringRef GetDescription(
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llvm::SmallVectorImpl<char>& buf) const override;
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// Property functions
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int GetPropertyIndex(llvm::StringRef name) const override;
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llvm::ArrayRef<int> EnumerateProperties(
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llvm::SmallVectorImpl<int>& vec) const override;
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CS_PropertyType GetPropertyType(int property) const override;
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llvm::StringRef GetPropertyName(int property,
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llvm::SmallVectorImpl<char>& buf,
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CS_Status* status) const override;
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int GetProperty(int property, CS_Status* status) const override;
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void SetProperty(int property, int value, CS_Status* status) override;
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int GetPropertyMin(int property, CS_Status* status) const override;
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int GetPropertyMax(int property, CS_Status* status) const override;
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int GetPropertyStep(int property, CS_Status* status) const override;
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int GetPropertyDefault(int property, CS_Status* status) const override;
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llvm::StringRef GetStringProperty(int property,
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llvm::SmallVectorImpl<char>& buf,
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CS_Status* status) const override;
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void SetStringProperty(int property, llvm::StringRef value,
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CS_Status* status) override;
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std::vector<std::string> GetEnumPropertyChoices(
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int property, CS_Status* status) const override;
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VideoMode GetVideoMode(CS_Status* status) const override;
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bool SetVideoMode(const VideoMode& mode, CS_Status* status) override;
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std::vector<VideoMode> EnumerateVideoModes(CS_Status* status) const override;
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bool SetPixelFormat(VideoMode::PixelFormat pixelFormat,
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CS_Status* status) override;
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bool SetResolution(int width, int height, CS_Status* status) override;
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bool SetFPS(int fps, CS_Status* status) override;
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void Stop();
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struct PropertyData {
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PropertyData() = default;
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#ifdef __linux__
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#ifdef VIDIOC_QUERY_EXT_CTRL
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PropertyData(const struct v4l2_query_ext_ctrl& ctrl);
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#endif
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PropertyData(const struct v4l2_queryctrl& ctrl);
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#endif
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std::string name;
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unsigned id; // implementation-level id
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int type; // implementation type, not CS_PropertyType!
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CS_PropertyType propType;
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int minimum;
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int maximum;
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int step;
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int defaultValue;
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};
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private:
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mutable llvm::DenseMap<int, PropertyData> m_property_data;
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mutable llvm::StringMap<int> m_properties;
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mutable std::atomic_bool m_properties_cached{false};
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void CacheProperty(PropertyData&& prop) const;
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void CacheProperties() const;
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bool GetPropertyTypeValueFd(int property, int propType, unsigned* id,
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int* type, int* fd, CS_Status* status) const;
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bool SetVideoModePixRes(const VideoMode& mode, CS_Status* status);
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void CameraThreadMain();
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std::string m_path;
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std::string m_description;
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std::atomic_int m_fd;
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std::atomic_bool m_active; // set to false to terminate threads
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std::thread m_cameraThread;
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mutable VideoMode m_mode;
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#ifdef __linux__
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unsigned m_capabilities = 0;
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#endif
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mutable std::mutex m_mutex;
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mutable std::condition_variable m_mode_changed;
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};
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} // namespace cs
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#endif // CAMERASERVER_USBCAMERAIMPL_H_
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