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https://github.com/wpilibsuite/allwpilib
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68 lines
2.3 KiB
C++
68 lines
2.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "RawSourceImpl.h"
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#include <memory>
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#include <wpi/timestamp.h>
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#include "Instance.h"
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#include "Notifier.h"
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#include "cscore_raw.h"
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using namespace cs;
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RawSourceImpl::RawSourceImpl(std::string_view name, wpi::Logger& logger,
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Notifier& notifier, Telemetry& telemetry,
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const VideoMode& mode)
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: ConfigurableSourceImpl{name, logger, notifier, telemetry, mode} {}
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RawSourceImpl::~RawSourceImpl() = default;
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void RawSourceImpl::PutFrame(const WPI_RawFrame& image) {
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auto currentTime = wpi::Now();
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std::string_view data_view{reinterpret_cast<char*>(image.data), image.size};
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SourceImpl::PutFrame(static_cast<VideoMode::PixelFormat>(image.pixelFormat),
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image.width, image.height, data_view, currentTime);
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}
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namespace cs {
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static constexpr unsigned SourceMask = CS_SOURCE_CV | CS_SOURCE_RAW;
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CS_Source CreateRawSource(std::string_view name, bool isCv,
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const VideoMode& mode, CS_Status* status) {
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auto& inst = Instance::GetInstance();
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return inst.CreateSource(
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isCv ? CS_SOURCE_CV : CS_SOURCE_RAW,
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std::make_shared<RawSourceImpl>(name, inst.logger, inst.notifier,
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inst.telemetry, mode));
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}
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void PutSourceFrame(CS_Source source, const WPI_RawFrame& image,
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CS_Status* status) {
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auto data = Instance::GetInstance().GetSource(source);
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if (!data || (data->kind & SourceMask) == 0) {
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*status = CS_INVALID_HANDLE;
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return;
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}
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static_cast<RawSourceImpl&>(*data->source).PutFrame(image);
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}
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} // namespace cs
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extern "C" {
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CS_Source CS_CreateRawSource(const struct WPI_String* name, CS_Bool isCv,
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const CS_VideoMode* mode, CS_Status* status) {
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return cs::CreateRawSource(wpi::to_string_view(name), isCv,
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static_cast<const cs::VideoMode&>(*mode), status);
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}
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void CS_PutRawSourceFrame(CS_Source source, const struct WPI_RawFrame* image,
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CS_Status* status) {
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return cs::PutSourceFrame(source, *image, status);
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}
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} // extern "C"
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