mirror of
https://github.com/wpilibsuite/allwpilib
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2282a11a79
Rewrote CameraServer to use the new USBCamera implementation and get rid of some unnecessary copying of the entire image. Change-Id: I877750e990b6159c0aaf829df62b253a171fbada
82 lines
2.5 KiB
C++
82 lines
2.5 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 "USBCamera.h"
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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 <mutex>
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#include <thread>
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#include <memory>
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#include <condition_variable>
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#include <tuple>
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#include <vector>
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class CameraServer : public ErrorBase {
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private:
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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 uint32_t kMaxImageSize = 200000;
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protected:
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CameraServer();
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std::shared_ptr<USBCamera> m_camera;
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std::thread m_serverThread;
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std::thread m_captureThread;
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std::recursive_mutex m_imageMutex;
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std::condition_variable_any m_newImageVariable;
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std::vector<uint8_t*> m_dataPool;
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unsigned int m_quality;
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bool m_autoCaptureStarted;
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bool m_hwClient;
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std::tuple<uint8_t*, unsigned int, unsigned int, bool> m_imageData;
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void Serve();
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void AutoCapture();
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void SetImageData(uint8_t* data, unsigned int size, unsigned int start = 0, bool imaqData = false);
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void FreeImageData(std::tuple<uint8_t*, unsigned int, unsigned int, bool> imageData);
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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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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 = USBCamera::kDefaultCameraName);
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/**
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* Start automatically capturing images to send to the dashboard.
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*
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* You should call this method to just see a camera feed on the
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* dashboard without doing any vision processing on the roboRIO.
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* {@link #SetImage} should not be called after this is called.
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*
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* @param camera The camera interface (eg. USBCamera)
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*/
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void StartAutomaticCapture(std::shared_ptr<USBCamera> camera);
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bool IsAutoCaptureStarted();
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void SetQuality(unsigned int quality);
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unsigned int GetQuality();
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void SetSize(unsigned int size);
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};
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