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cscore_c.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
7 
8 #ifndef CSCORE_CSCORE_C_H_
9 #define CSCORE_CSCORE_C_H_
10 
11 #include <stdint.h>
12 
13 #ifdef __cplusplus
14 #include <cstddef>
15 #else
16 #include <stddef.h>
17 #endif
18 
19 #ifdef __cplusplus
20 extern "C" {
21 #endif
22 
23 struct CvMat;
24 
48 typedef int CS_Bool;
49 typedef int CS_Status;
50 
51 typedef int CS_Handle;
52 typedef CS_Handle CS_Property;
53 typedef CS_Handle CS_Listener;
54 typedef CS_Handle CS_Sink;
55 typedef CS_Handle CS_Source;
62  CS_PROPERTY_WRITE_FAILED = 2000,
63  CS_OK = 0,
64  CS_INVALID_HANDLE = -2000, // handle was invalid (does not exist)
65  CS_WRONG_HANDLE_SUBTYPE = -2001,
66  CS_INVALID_PROPERTY = -2002,
67  CS_WRONG_PROPERTY_TYPE = -2003,
68  CS_READ_FAILED = -2004,
69  CS_SOURCE_IS_DISCONNECTED = -2005,
70  CS_EMPTY_VALUE = -2006,
71  CS_BAD_URL = -2007,
72  CS_TELEMETRY_NOT_ENABLED = -2008
73 };
74 
79  CS_LOG_CRITICAL = 50,
80  CS_LOG_ERROR = 40,
81  CS_LOG_WARNING = 30,
82  CS_LOG_INFO = 20,
83  CS_LOG_DEBUG = 10,
84  CS_LOG_DEBUG1 = 9,
85  CS_LOG_DEBUG2 = 8,
86  CS_LOG_DEBUG3 = 7,
87  CS_LOG_DEBUG4 = 6
88 };
89 
94  CS_PIXFMT_UNKNOWN = 0,
95  CS_PIXFMT_MJPEG,
96  CS_PIXFMT_YUYV,
97  CS_PIXFMT_RGB565,
98  CS_PIXFMT_BGR,
99  CS_PIXFMT_GRAY
100 };
101 
105 typedef struct CS_VideoMode {
106  int pixelFormat;
107  int width;
108  int height;
109  int fps;
110 } CS_VideoMode;
111 
116  CS_PROP_NONE = 0,
117  CS_PROP_BOOLEAN = 1,
118  CS_PROP_INTEGER = 2,
119  CS_PROP_STRING = 4,
120  CS_PROP_ENUM = 8
121 };
122 
127  CS_SOURCE_UNKNOWN = 0,
128  CS_SOURCE_USB = 1,
129  CS_SOURCE_HTTP = 2,
130  CS_SOURCE_CV = 4
131 };
132 
137  CS_HTTP_UNKNOWN = 0,
138  CS_HTTP_MJPGSTREAMER = 1,
139  CS_HTTP_CSCORE = 2,
140  CS_HTTP_AXIS = 3
141 };
142 
146 enum CS_SinkKind { CS_SINK_UNKNOWN = 0, CS_SINK_MJPEG = 2, CS_SINK_CV = 4 };
147 
152  CS_SOURCE_CREATED = 0x0001,
153  CS_SOURCE_DESTROYED = 0x0002,
154  CS_SOURCE_CONNECTED = 0x0004,
155  CS_SOURCE_DISCONNECTED = 0x0008,
156  CS_SOURCE_VIDEOMODES_UPDATED = 0x0010,
157  CS_SOURCE_VIDEOMODE_CHANGED = 0x0020,
158  CS_SOURCE_PROPERTY_CREATED = 0x0040,
159  CS_SOURCE_PROPERTY_VALUE_UPDATED = 0x0080,
160  CS_SOURCE_PROPERTY_CHOICES_UPDATED = 0x0100,
161  CS_SINK_SOURCE_CHANGED = 0x0200,
162  CS_SINK_CREATED = 0x0400,
163  CS_SINK_DESTROYED = 0x0800,
164  CS_SINK_ENABLED = 0x1000,
165  CS_SINK_DISABLED = 0x2000,
166  CS_NETWORK_INTERFACES_CHANGED = 0x4000,
167  CS_TELEMETRY_UPDATED = 0x8000,
168  CS_SINK_PROPERTY_CREATED = 0x10000,
169  CS_SINK_PROPERTY_VALUE_UPDATED = 0x20000,
170  CS_SINK_PROPERTY_CHOICES_UPDATED = 0x40000
171 };
172 
177  CS_SOURCE_BYTES_RECEIVED = 1,
178  CS_SOURCE_FRAMES_RECEIVED = 2
179 };
180 
188 
194 
200 };
201 
205 struct CS_Event {
206  enum CS_EventKind kind;
207 
208  // Valid for CS_SOURCE_* and CS_SINK_* respectively
209  CS_Source source;
210  CS_Sink sink;
211 
212  // Source/sink/property name
213  const char* name;
214 
215  // Fields for CS_SOURCE_VIDEOMODE_CHANGED event
216  CS_VideoMode mode;
217 
218  // Fields for CS_SOURCE_PROPERTY_* events
219  CS_Property property;
220  enum CS_PropertyKind propertyKind;
221  int value;
222  const char* valueStr;
223 };
224 
229 enum CS_PropertyKind CS_GetPropertyKind(CS_Property property,
230  CS_Status* status);
231 char* CS_GetPropertyName(CS_Property property, CS_Status* status);
232 int CS_GetProperty(CS_Property property, CS_Status* status);
233 void CS_SetProperty(CS_Property property, int value, CS_Status* status);
234 int CS_GetPropertyMin(CS_Property property, CS_Status* status);
235 int CS_GetPropertyMax(CS_Property property, CS_Status* status);
236 int CS_GetPropertyStep(CS_Property property, CS_Status* status);
237 int CS_GetPropertyDefault(CS_Property property, CS_Status* status);
238 char* CS_GetStringProperty(CS_Property property, CS_Status* status);
239 void CS_SetStringProperty(CS_Property property, const char* value,
240  CS_Status* status);
241 char** CS_GetEnumPropertyChoices(CS_Property property, int* count,
242  CS_Status* status);
249 CS_Source CS_CreateUsbCameraDev(const char* name, int dev, CS_Status* status);
250 CS_Source CS_CreateUsbCameraPath(const char* name, const char* path,
251  CS_Status* status);
252 CS_Source CS_CreateHttpCamera(const char* name, const char* url,
253  enum CS_HttpCameraKind kind, CS_Status* status);
254 CS_Source CS_CreateHttpCameraMulti(const char* name, const char** urls,
255  int count, enum CS_HttpCameraKind kind,
256  CS_Status* status);
257 CS_Source CS_CreateCvSource(const char* name, const CS_VideoMode* mode,
258  CS_Status* status);
265 enum CS_SourceKind CS_GetSourceKind(CS_Source source, CS_Status* status);
266 char* CS_GetSourceName(CS_Source source, CS_Status* status);
267 char* CS_GetSourceDescription(CS_Source source, CS_Status* status);
268 uint64_t CS_GetSourceLastFrameTime(CS_Source source, CS_Status* status);
269 void CS_SetSourceConnectionStrategy(CS_Source source,
270  enum CS_ConnectionStrategy strategy,
271  CS_Status* status);
272 CS_Bool CS_IsSourceConnected(CS_Source source, CS_Status* status);
273 CS_Bool CS_IsSourceEnabled(CS_Source source, CS_Status* status);
274 CS_Property CS_GetSourceProperty(CS_Source source, const char* name,
275  CS_Status* status);
276 CS_Property* CS_EnumerateSourceProperties(CS_Source source, int* count,
277  CS_Status* status);
278 void CS_GetSourceVideoMode(CS_Source source, CS_VideoMode* mode,
279  CS_Status* status);
280 CS_Bool CS_SetSourceVideoMode(CS_Source source, const CS_VideoMode* mode,
281  CS_Status* status);
282 CS_Bool CS_SetSourceVideoModeDiscrete(CS_Source source,
283  enum CS_PixelFormat pixelFormat,
284  int width, int height, int fps,
285  CS_Status* status);
286 CS_Bool CS_SetSourcePixelFormat(CS_Source source,
287  enum CS_PixelFormat pixelFormat,
288  CS_Status* status);
289 CS_Bool CS_SetSourceResolution(CS_Source source, int width, int height,
290  CS_Status* status);
291 CS_Bool CS_SetSourceFPS(CS_Source source, int fps, CS_Status* status);
292 CS_Bool CS_SetSourceConfigJson(CS_Source source, const char* config,
293  CS_Status* status);
294 char* CS_GetSourceConfigJson(CS_Source source, CS_Status* status);
295 CS_VideoMode* CS_EnumerateSourceVideoModes(CS_Source source, int* count,
296  CS_Status* status);
297 CS_Sink* CS_EnumerateSourceSinks(CS_Source source, int* count,
298  CS_Status* status);
299 CS_Source CS_CopySource(CS_Source source, CS_Status* status);
300 void CS_ReleaseSource(CS_Source source, CS_Status* status);
307 void CS_SetCameraBrightness(CS_Source source, int brightness,
308  CS_Status* status);
309 int CS_GetCameraBrightness(CS_Source source, CS_Status* status);
310 void CS_SetCameraWhiteBalanceAuto(CS_Source source, CS_Status* status);
311 void CS_SetCameraWhiteBalanceHoldCurrent(CS_Source source, CS_Status* status);
312 void CS_SetCameraWhiteBalanceManual(CS_Source source, int value,
313  CS_Status* status);
314 void CS_SetCameraExposureAuto(CS_Source source, CS_Status* status);
315 void CS_SetCameraExposureHoldCurrent(CS_Source source, CS_Status* status);
316 void CS_SetCameraExposureManual(CS_Source source, int value, CS_Status* status);
323 char* CS_GetUsbCameraPath(CS_Source source, CS_Status* status);
330 enum CS_HttpCameraKind CS_GetHttpCameraKind(CS_Source source,
331  CS_Status* status);
332 void CS_SetHttpCameraUrls(CS_Source source, const char** urls, int count,
333  CS_Status* status);
334 char** CS_GetHttpCameraUrls(CS_Source source, int* count, CS_Status* status);
341 void CS_PutSourceFrame(CS_Source source, struct CvMat* image,
342  CS_Status* status);
343 void CS_NotifySourceError(CS_Source source, const char* msg, CS_Status* status);
344 void CS_SetSourceConnected(CS_Source source, CS_Bool connected,
345  CS_Status* status);
346 void CS_SetSourceDescription(CS_Source source, const char* description,
347  CS_Status* status);
348 CS_Property CS_CreateSourceProperty(CS_Source source, const char* name,
349  enum CS_PropertyKind kind, int minimum,
350  int maximum, int step, int defaultValue,
351  int value, CS_Status* status);
352 void CS_SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
353  const char** choices, int count,
354  CS_Status* status);
361 CS_Sink CS_CreateMjpegServer(const char* name, const char* listenAddress,
362  int port, CS_Status* status);
363 CS_Sink CS_CreateCvSink(const char* name, CS_Status* status);
364 CS_Sink CS_CreateCvSinkCallback(const char* name, void* data,
365  void (*processFrame)(void* data, uint64_t time),
366  CS_Status* status);
373 enum CS_SinkKind CS_GetSinkKind(CS_Sink sink, CS_Status* status);
374 char* CS_GetSinkName(CS_Sink sink, CS_Status* status);
375 char* CS_GetSinkDescription(CS_Sink sink, CS_Status* status);
376 CS_Property CS_GetSinkProperty(CS_Sink sink, const char* name,
377  CS_Status* status);
378 CS_Property* CS_EnumerateSinkProperties(CS_Sink sink, int* count,
379  CS_Status* status);
380 void CS_SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status);
381 CS_Property CS_GetSinkSourceProperty(CS_Sink sink, const char* name,
382  CS_Status* status);
383 CS_Source CS_GetSinkSource(CS_Sink sink, CS_Status* status);
384 CS_Sink CS_CopySink(CS_Sink sink, CS_Status* status);
385 void CS_ReleaseSink(CS_Sink sink, CS_Status* status);
392 char* CS_GetMjpegServerListenAddress(CS_Sink sink, CS_Status* status);
393 int CS_GetMjpegServerPort(CS_Sink sink, CS_Status* status);
400 void CS_SetSinkDescription(CS_Sink sink, const char* description,
401  CS_Status* status);
402 uint64_t CS_GrabSinkFrame(CS_Sink sink, struct CvMat* image, CS_Status* status);
403 uint64_t CS_GrabSinkFrameTimeout(CS_Sink sink, struct CvMat* image,
404  double timeout, CS_Status* status);
405 char* CS_GetSinkError(CS_Sink sink, CS_Status* status);
406 void CS_SetSinkEnabled(CS_Sink sink, CS_Bool enabled, CS_Status* status);
413 void CS_SetListenerOnStart(void (*onStart)(void* data), void* data);
414 void CS_SetListenerOnExit(void (*onExit)(void* data), void* data);
415 CS_Listener CS_AddListener(
416  void* data, void (*callback)(void* data, const struct CS_Event* event),
417  int eventMask, int immediateNotify, CS_Status* status);
418 
419 void CS_RemoveListener(CS_Listener handle, CS_Status* status);
422 int CS_NotifierDestroyed(void);
423 
428 void CS_SetTelemetryPeriod(double seconds);
429 double CS_GetTelemetryElapsedTime(void);
430 int64_t CS_GetTelemetryValue(CS_Handle handle, enum CS_TelemetryKind kind,
431  CS_Status* status);
432 double CS_GetTelemetryAverageValue(CS_Handle handle, enum CS_TelemetryKind kind,
433  CS_Status* status);
440 typedef void (*CS_LogFunc)(unsigned int level, const char* file,
441  unsigned int line, const char* msg);
442 void CS_SetLogger(CS_LogFunc func, unsigned int min_level);
443 void CS_SetDefaultLogger(unsigned int min_level);
450 void CS_Shutdown(void);
461 typedef struct CS_UsbCameraInfo {
462  int dev;
463  char* path;
464  char* name;
466 
467 CS_UsbCameraInfo* CS_EnumerateUsbCameras(int* count, CS_Status* status);
468 void CS_FreeEnumeratedUsbCameras(CS_UsbCameraInfo* cameras, int count);
469 
470 CS_Source* CS_EnumerateSources(int* count, CS_Status* status);
471 void CS_ReleaseEnumeratedSources(CS_Source* sources, int count);
472 
473 CS_Sink* CS_EnumerateSinks(int* count, CS_Status* status);
474 void CS_ReleaseEnumeratedSinks(CS_Sink* sinks, int count);
475 
476 void CS_FreeString(char* str);
477 void CS_FreeEnumPropertyChoices(char** choices, int count);
478 void CS_FreeHttpCameraUrls(char** urls, int count);
479 
480 void CS_FreeEnumeratedProperties(CS_Property* properties, int count);
481 void CS_FreeEnumeratedVideoModes(CS_VideoMode* modes, int count);
482 
483 char* CS_GetHostname();
484 
485 char** CS_GetNetworkInterfaces(int* count);
486 void CS_FreeNetworkInterfaces(char** interfaces, int count);
491 #ifdef __cplusplus
492 } // extern "C"
493 #endif
494 
495 #endif // CSCORE_CSCORE_C_H_
CS_StatusValue
Status values.
Definition: cscore_c.h:61
CS_PixelFormat
Pixel formats.
Definition: cscore_c.h:93
CS_TelemetryKind
Telemetry kinds.
Definition: cscore_c.h:176
Try to keep the connection open regardless of whether any sinks are connected.
Definition: cscore_c.h:193
CS_LogLevel
Logging levels.
Definition: cscore_c.h:78
struct CS_VideoMode CS_VideoMode
Video mode.
CS_HttpCameraKind
HTTP Camera kinds.
Definition: cscore_c.h:136
CS_SinkKind
Sink kinds.
Definition: cscore_c.h:146
USB camera infomation.
Definition: cscore_c.h:461
Never open the connection.
Definition: cscore_c.h:199
Automatically connect or disconnect based on whether any sinks are connected to this source...
Definition: cscore_c.h:187
CS_ConnectionStrategy
Connection strategy.
Definition: cscore_c.h:182
CS_SourceKind
Source kinds.
Definition: cscore_c.h:126
CS_PropertyKind
Property kinds.
Definition: cscore_c.h:115
CS_EventKind
Listener event kinds.
Definition: cscore_c.h:151
struct CS_UsbCameraInfo CS_UsbCameraInfo
USB camera infomation.
Listener event.
Definition: cscore_c.h:205
Video mode.
Definition: cscore_c.h:105