8 #ifndef CSCORE_CSCORE_CPP_H_
9 #define CSCORE_CSCORE_CPP_H_
17 #include <wpi/ArrayRef.h>
18 #include <wpi/SmallVector.h>
19 #include <wpi/StringRef.h>
20 #include <wpi/Twine.h>
58 kUnknown = CS_PIXFMT_UNKNOWN,
59 kMJPEG = CS_PIXFMT_MJPEG,
60 kYUYV = CS_PIXFMT_YUYV,
61 kRGB565 = CS_PIXFMT_RGB565,
63 kGray = CS_PIXFMT_GRAY
71 VideoMode(PixelFormat pixelFormat_,
int width_,
int height_,
int fps_) {
72 pixelFormat = pixelFormat_;
77 explicit operator bool()
const {
return pixelFormat == kUnknown; }
85 kSourceCreated = CS_SOURCE_CREATED,
86 kSourceDestroyed = CS_SOURCE_DESTROYED,
87 kSourceConnected = CS_SOURCE_CONNECTED,
88 kSourceDisconnected = CS_SOURCE_DISCONNECTED,
89 kSourceVideoModesUpdated = CS_SOURCE_VIDEOMODES_UPDATED,
90 kSourceVideoModeChanged = CS_SOURCE_VIDEOMODE_CHANGED,
91 kSourcePropertyCreated = CS_SOURCE_PROPERTY_CREATED,
92 kSourcePropertyValueUpdated = CS_SOURCE_PROPERTY_VALUE_UPDATED,
93 kSourcePropertyChoicesUpdated = CS_SOURCE_PROPERTY_CHOICES_UPDATED,
94 kSinkSourceChanged = CS_SINK_SOURCE_CHANGED,
95 kSinkCreated = CS_SINK_CREATED,
96 kSinkDestroyed = CS_SINK_DESTROYED,
97 kSinkEnabled = CS_SINK_ENABLED,
98 kSinkDisabled = CS_SINK_DISABLED,
99 kNetworkInterfacesChanged = CS_NETWORK_INTERFACES_CHANGED,
100 kTelemetryUpdated = CS_TELEMETRY_UPDATED,
101 kSinkPropertyCreated = CS_SINK_PROPERTY_CREATED,
102 kSinkPropertyValueUpdated = CS_SINK_PROPERTY_VALUE_UPDATED,
103 kSinkPropertyChoicesUpdated = CS_SINK_PROPERTY_CHOICES_UPDATED
107 explicit RawEvent(RawEvent::Kind kind_) : kind{kind_} {}
109 : kind{kind_}, name{name_.
str()} {
110 if (kind_ == kSinkCreated || kind_ == kSinkDestroyed ||
111 kind_ == kSinkEnabled || kind_ == kSinkDisabled)
112 sinkHandle = handle_;
114 sourceHandle = handle_;
117 : kind{kSourceVideoModeChanged},
118 sourceHandle{source_},
125 sourceHandle{source_},
127 propertyHandle{property_},
128 propertyKind{propertyKind_},
130 valueStr{valueStr_.
str()} {}
135 CS_Source sourceHandle = CS_INVALID_HANDLE;
136 CS_Sink sinkHandle = CS_INVALID_HANDLE;
145 CS_Property propertyHandle;
148 std::string valueStr;
155 CS_PropertyKind GetPropertyKind(CS_Property property, CS_Status* status);
156 std::string GetPropertyName(CS_Property property, CS_Status* status);
160 int GetProperty(CS_Property property, CS_Status* status);
161 void SetProperty(CS_Property property,
int value, CS_Status* status);
162 int GetPropertyMin(CS_Property property, CS_Status* status);
163 int GetPropertyMax(CS_Property property, CS_Status* status);
164 int GetPropertyStep(CS_Property property, CS_Status* status);
165 int GetPropertyDefault(CS_Property property, CS_Status* status);
166 std::string GetStringProperty(CS_Property property, CS_Status* status);
170 void SetStringProperty(CS_Property property,
const wpi::Twine& value,
172 std::vector<std::string> GetEnumPropertyChoices(CS_Property property,
180 CS_Source CreateUsbCameraDev(
const wpi::Twine& name,
int dev,
186 CS_Source CreateHttpCamera(
const wpi::Twine& name,
197 CS_SourceKind GetSourceKind(CS_Source source, CS_Status* status);
198 std::string GetSourceName(CS_Source source, CS_Status* status);
201 std::string GetSourceDescription(CS_Source source, CS_Status* status);
205 uint64_t GetSourceLastFrameTime(CS_Source source, CS_Status* status);
206 bool IsSourceConnected(CS_Source source, CS_Status* status);
207 CS_Property GetSourceProperty(CS_Source source,
const wpi::Twine& name,
212 VideoMode GetSourceVideoMode(CS_Source source, CS_Status* status);
213 bool SetSourceVideoMode(CS_Source source,
const VideoMode& mode,
215 bool SetSourcePixelFormat(CS_Source source, VideoMode::PixelFormat pixelFormat,
217 bool SetSourceResolution(CS_Source source,
int width,
int height,
219 bool SetSourceFPS(CS_Source source,
int fps, CS_Status* status);
220 std::vector<VideoMode> EnumerateSourceVideoModes(CS_Source source,
225 CS_Source CopySource(CS_Source source, CS_Status* status);
226 void ReleaseSource(CS_Source source, CS_Status* status);
233 void SetCameraBrightness(CS_Source source,
int brightness, CS_Status* status);
234 int GetCameraBrightness(CS_Source source, CS_Status* status);
235 void SetCameraWhiteBalanceAuto(CS_Source source, CS_Status* status);
236 void SetCameraWhiteBalanceHoldCurrent(CS_Source source, CS_Status* status);
237 void SetCameraWhiteBalanceManual(CS_Source source,
int value,
239 void SetCameraExposureAuto(CS_Source source, CS_Status* status);
240 void SetCameraExposureHoldCurrent(CS_Source source, CS_Status* status);
241 void SetCameraExposureManual(CS_Source source,
int value, CS_Status* status);
248 std::string GetUsbCameraPath(CS_Source source, CS_Status* status);
258 std::vector<std::string> GetHttpCameraUrls(CS_Source source, CS_Status* status);
265 void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status);
266 void NotifySourceError(CS_Source source,
const wpi::Twine& msg,
268 void SetSourceConnected(CS_Source source,
bool connected, CS_Status* status);
269 void SetSourceDescription(CS_Source source,
const wpi::Twine& description,
271 CS_Property CreateSourceProperty(CS_Source source,
const wpi::Twine& name,
273 int step,
int defaultValue,
int value,
275 void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
284 CS_Sink CreateMjpegServer(
const wpi::Twine& name,
287 CS_Sink CreateCvSink(
const wpi::Twine& name, CS_Status* status);
288 CS_Sink CreateCvSinkCallback(
const wpi::Twine& name,
289 std::function<
void(uint64_t time)> processFrame,
297 CS_SinkKind GetSinkKind(CS_Sink sink, CS_Status* status);
298 std::string GetSinkName(CS_Sink sink, CS_Status* status);
301 std::string GetSinkDescription(CS_Sink sink, CS_Status* status);
304 CS_Property GetSinkProperty(CS_Sink sink,
const wpi::Twine& name,
308 void SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status);
309 CS_Property GetSinkSourceProperty(CS_Sink sink,
const wpi::Twine& name,
311 CS_Source GetSinkSource(CS_Sink sink, CS_Status* status);
312 CS_Sink CopySink(CS_Sink sink, CS_Status* status);
313 void ReleaseSink(CS_Sink sink, CS_Status* status);
320 std::string GetMjpegServerListenAddress(CS_Sink sink, CS_Status* status);
321 int GetMjpegServerPort(CS_Sink sink, CS_Status* status);
328 void SetSinkDescription(CS_Sink sink,
const wpi::Twine& description,
330 uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat& image, CS_Status* status);
331 uint64_t GrabSinkFrameTimeout(CS_Sink sink, cv::Mat& image,
double timeout,
333 std::string GetSinkError(CS_Sink sink, CS_Status* status);
336 void SetSinkEnabled(CS_Sink sink,
bool enabled, CS_Status* status);
343 void SetListenerOnStart(std::function<
void()> onStart);
344 void SetListenerOnExit(std::function<
void()> onExit);
346 CS_Listener AddListener(std::function<
void(
const RawEvent& event)> callback,
347 int eventMask,
bool immediateNotify, CS_Status* status);
349 void RemoveListener(CS_Listener handle, CS_Status* status);
352 bool NotifierDestroyed();
358 void SetTelemetryPeriod(
double seconds);
359 double GetTelemetryElapsedTime();
370 typedef std::function<void(
unsigned int level,
const char* file,
371 unsigned int line,
const char* msg)>
373 void SetLogger(LogFunc func,
unsigned int min_level);
374 void SetDefaultLogger(
unsigned int min_level);
381 std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status);
388 std::string GetHostname();
390 std::vector<std::string> GetNetworkInterfaces();
404 uint64_t CS_GrabSinkFrameCpp(CS_Sink sink, cv::Mat* image, CS_Status* status);
405 uint64_t CS_GrabSinkFrameTimeoutCpp(CS_Sink sink, cv::Mat* image,
406 double timeout, CS_Status* status);
407 void CS_PutSourceFrameCpp(CS_Source source, cv::Mat* image, CS_Status* status);
411 #endif // CSCORE_CSCORE_CPP_H_
CS_TelemetryKind
Telemetry kinds.
Definition: cscore_c.h:176
CameraServer (cscore) namespace.
Definition: cscore_oo.inl:11
CS_HttpCameraKind
HTTP Camera kinds.
Definition: cscore_c.h:136
CS_SinkKind
Sink kinds.
Definition: cscore_c.h:146
ArrayRef - Represent a constant reference to an array (0 or more elements consecutively in memory)...
Definition: ArrayRef.h:41
Listener event.
Definition: cscore_cpp.h:83
Definition: cscore_cpp.h:24
std::string str() const
Return the twine contents as a std::string.
CS_SourceKind
Source kinds.
Definition: cscore_c.h:126
USB camera information.
Definition: cscore_cpp.h:44
StringRef - Represent a constant reference to a string, i.e.
Definition: StringRef.h:49
int dev
Device number (e.g.
Definition: cscore_cpp.h:46
CS_PropertyKind
Property kinds.
Definition: cscore_c.h:115
std::string path
Path to device if available (e.g.
Definition: cscore_cpp.h:48
std::string name
Vendor/model name of the camera as provided by the USB driver.
Definition: cscore_cpp.h:50
Twine - A lightweight data structure for efficiently representing the concatenation of temporary valu...
Definition: Twine.h:79
Video mode.
Definition: cscore_cpp.h:56
Video mode.
Definition: cscore_c.h:105