allwpilib/cameraserver/src/main/java/edu/wpi/first/vision/VisionThread.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package edu.wpi.first.vision;

import edu.wpi.cscore.VideoSource;

/**
 * A vision thread is a special thread that runs a vision pipeline. It is a <i>daemon</i> thread; it
 * does not prevent the program from exiting when all other non-daemon threads have finished
 * running.
 *
 * @see VisionPipeline
 * @see VisionRunner
 * @see Thread#setDaemon(boolean)
 */
public class VisionThread extends Thread {
  /**
   * Creates a vision thread that continuously runs a {@link VisionPipeline}.
   *
   * @param visionRunner the runner for a vision pipeline
   */
  public VisionThread(VisionRunner<?> visionRunner) {
    super(visionRunner::runForever, "WPILib Vision Thread");
    setDaemon(true);
  }

  /**
   * Creates a new vision thread that continuously runs the given vision pipeline. This is
   * equivalent to {@code new VisionThread(new VisionRunner<>(videoSource, pipeline, listener))}.
   *
   * @param videoSource the source for images the pipeline should process
   * @param pipeline the pipeline to run
   * @param listener the listener to copy outputs from the pipeline after it runs
   * @param <P> the type of the pipeline
   */
  public <P extends VisionPipeline> VisionThread(
      VideoSource videoSource, P pipeline, VisionRunner.Listener<? super P> listener) {
    this(new VisionRunner<>(videoSource, pipeline, listener));
  }
}