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FRC2016-old/DriveBase/wpilib/cpp/current/include/CameraServer.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "USBCamera.h"
#include "ErrorBase.h"
#include "nivision.h"
#include "NIIMAQdx.h"
#include "HAL/cpp/priority_mutex.h"
#include <thread>
#include <memory>
#include <condition_variable>
#include <tuple>
#include <vector>
class CameraServer : public ErrorBase {
private:
static constexpr uint16_t kPort = 1180;
static constexpr uint8_t kMagicNumber[] = {0x01, 0x00, 0x00, 0x00};
static constexpr uint32_t kSize640x480 = 0;
static constexpr uint32_t kSize320x240 = 1;
static constexpr uint32_t kSize160x120 = 2;
static constexpr int32_t kHardwareCompression = -1;
static constexpr uint32_t kMaxImageSize = 200000;
protected:
CameraServer();
std::shared_ptr<USBCamera> m_camera;
std::thread m_serverThread;
std::thread m_captureThread;
priority_recursive_mutex m_imageMutex;
std::condition_variable_any m_newImageVariable;
std::vector<uint8_t*> m_dataPool;
unsigned int m_quality;
bool m_autoCaptureStarted;
bool m_hwClient;
std::tuple<uint8_t*, unsigned int, unsigned int, bool> m_imageData;
void Serve();
void AutoCapture();
void SetImageData(uint8_t* data, unsigned int size, unsigned int start = 0,
bool imaqData = false);
void FreeImageData(
std::tuple<uint8_t*, unsigned int, unsigned int, bool> imageData);
struct Request {
uint32_t fps;
int32_t compression;
uint32_t size;
};
public:
static CameraServer* GetInstance();
void SetImage(Image const* image);
void StartAutomaticCapture(
char const* cameraName = USBCamera::kDefaultCameraName);
/**
* Start automatically capturing images to send to the dashboard.
*
* You should call this method to just see a camera feed on the
* dashboard without doing any vision processing on the roboRIO.
* {@link #SetImage} should not be called after this is called.
*
* @param camera The camera interface (eg. USBCamera)
*/
void StartAutomaticCapture(std::shared_ptr<USBCamera> camera);
bool IsAutoCaptureStarted();
void SetQuality(unsigned int quality);
unsigned int GetQuality();
void SetSize(unsigned int size);
};