mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
79 lines
2.7 KiB
C++
79 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* 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 CAMERASERVER_CVSOURCEIMPL_H_
|
|
#define CAMERASERVER_CVSOURCEIMPL_H_
|
|
|
|
#include <atomic>
|
|
#include <functional>
|
|
#include <vector>
|
|
|
|
#include "SourceImpl.h"
|
|
|
|
namespace cs {
|
|
|
|
class CvSourceImpl : public SourceImpl {
|
|
public:
|
|
CvSourceImpl(llvm::StringRef name, const VideoMode& mode);
|
|
~CvSourceImpl() override;
|
|
|
|
bool IsConnected() const override;
|
|
|
|
// Property functions
|
|
void SetProperty(int property, int value, CS_Status* status) override;
|
|
void SetStringProperty(int property, llvm::StringRef value,
|
|
CS_Status* status) override;
|
|
|
|
bool SetVideoMode(const VideoMode& mode, CS_Status* status) override;
|
|
|
|
void NumSinksChanged() override;
|
|
void NumSinksEnabledChanged() override;
|
|
|
|
// OpenCV-specific functions
|
|
void PutFrame(cv::Mat& image);
|
|
void NotifyError(llvm::StringRef msg);
|
|
void SetConnected(bool connected);
|
|
CS_Property CreateProperty(llvm::StringRef name, CS_PropertyType type,
|
|
int minimum, int maximum, int step,
|
|
int defaultValue, int value);
|
|
CS_Property CreateProperty(
|
|
llvm::StringRef name, CS_PropertyType type, int minimum, int maximum,
|
|
int step, int defaultValue, int value,
|
|
std::function<void(CS_Property property)> onChange);
|
|
void SetEnumPropertyChoices(CS_Property property,
|
|
llvm::ArrayRef<std::string> choices,
|
|
CS_Status* status);
|
|
void RemoveProperty(CS_Property property);
|
|
void RemoveProperty(llvm::StringRef name);
|
|
|
|
// Property data
|
|
class PropertyData : public PropertyBase {
|
|
public:
|
|
PropertyData() = default;
|
|
PropertyData(llvm::StringRef name_, CS_PropertyType type_, int minimum_,
|
|
int maximum_, int step_, int defaultValue_, int value_)
|
|
: PropertyBase{name_, type_, minimum_, maximum_,
|
|
step_, defaultValue_, value_} {}
|
|
~PropertyData() override = default;
|
|
|
|
std::function<void(CS_Property property)> onChange;
|
|
};
|
|
|
|
protected:
|
|
bool CacheProperties(CS_Status* status) const override;
|
|
|
|
private:
|
|
std::atomic_bool m_connected{true};
|
|
std::vector<unsigned char> m_jpegBuf;
|
|
std::vector<int> m_compressionParams;
|
|
int m_qualityProperty;
|
|
};
|
|
|
|
} // namespace cs
|
|
|
|
#endif // CAMERASERVER_CVSOURCEIMPL_H_
|