mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
84 lines
2.6 KiB
C++
84 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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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#pragma once
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#include <condition_variable>
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#include <memory>
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#include <thread>
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#include <tuple>
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#include <vector>
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#include "ErrorBase.h"
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#include "HAL/cpp/priority_mutex.h"
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#include "NIIMAQdx.h"
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#include "USBCamera.h"
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#include "nivision.h"
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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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priority_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,
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bool imaqData = false);
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void FreeImageData(
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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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public:
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static CameraServer* GetInstance();
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void SetImage(Image const* image);
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void StartAutomaticCapture(
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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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