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>
62 kUnknown = CS_PIXFMT_UNKNOWN,
63 kMJPEG = CS_PIXFMT_MJPEG,
64 kYUYV = CS_PIXFMT_YUYV,
65 kRGB565 = CS_PIXFMT_RGB565,
67 kGray = CS_PIXFMT_GRAY
75 VideoMode(PixelFormat pixelFormat_,
int width_,
int height_,
int fps_) {
76 pixelFormat = pixelFormat_;
81 explicit operator bool()
const {
return pixelFormat == kUnknown; }
89 kSourceCreated = CS_SOURCE_CREATED,
90 kSourceDestroyed = CS_SOURCE_DESTROYED,
91 kSourceConnected = CS_SOURCE_CONNECTED,
92 kSourceDisconnected = CS_SOURCE_DISCONNECTED,
93 kSourceVideoModesUpdated = CS_SOURCE_VIDEOMODES_UPDATED,
94 kSourceVideoModeChanged = CS_SOURCE_VIDEOMODE_CHANGED,
95 kSourcePropertyCreated = CS_SOURCE_PROPERTY_CREATED,
96 kSourcePropertyValueUpdated = CS_SOURCE_PROPERTY_VALUE_UPDATED,
97 kSourcePropertyChoicesUpdated = CS_SOURCE_PROPERTY_CHOICES_UPDATED,
98 kSinkSourceChanged = CS_SINK_SOURCE_CHANGED,
99 kSinkCreated = CS_SINK_CREATED,
100 kSinkDestroyed = CS_SINK_DESTROYED,
101 kSinkEnabled = CS_SINK_ENABLED,
102 kSinkDisabled = CS_SINK_DISABLED,
103 kNetworkInterfacesChanged = CS_NETWORK_INTERFACES_CHANGED,
104 kTelemetryUpdated = CS_TELEMETRY_UPDATED,
105 kSinkPropertyCreated = CS_SINK_PROPERTY_CREATED,
106 kSinkPropertyValueUpdated = CS_SINK_PROPERTY_VALUE_UPDATED,
107 kSinkPropertyChoicesUpdated = CS_SINK_PROPERTY_CHOICES_UPDATED
111 explicit RawEvent(RawEvent::Kind kind_) : kind{kind_} {}
113 : kind{kind_}, name{name_.
str()} {
114 if (kind_ == kSinkCreated || kind_ == kSinkDestroyed ||
115 kind_ == kSinkEnabled || kind_ == kSinkDisabled)
116 sinkHandle = handle_;
118 sourceHandle = handle_;
121 : kind{kSourceVideoModeChanged},
122 sourceHandle{source_},
129 sourceHandle{source_},
131 propertyHandle{property_},
132 propertyKind{propertyKind_},
134 valueStr{valueStr_.
str()} {}
139 CS_Source sourceHandle = CS_INVALID_HANDLE;
140 CS_Sink sinkHandle = CS_INVALID_HANDLE;
149 CS_Property propertyHandle;
152 std::string valueStr;
159 CS_PropertyKind GetPropertyKind(CS_Property property, CS_Status* status);
160 std::string GetPropertyName(CS_Property property, CS_Status* status);
164 int GetProperty(CS_Property property, CS_Status* status);
165 void SetProperty(CS_Property property,
int value, CS_Status* status);
166 int GetPropertyMin(CS_Property property, CS_Status* status);
167 int GetPropertyMax(CS_Property property, CS_Status* status);
168 int GetPropertyStep(CS_Property property, CS_Status* status);
169 int GetPropertyDefault(CS_Property property, CS_Status* status);
170 std::string GetStringProperty(CS_Property property, CS_Status* status);
174 void SetStringProperty(CS_Property property,
const wpi::Twine& value,
176 std::vector<std::string> GetEnumPropertyChoices(CS_Property property,
184 CS_Source CreateUsbCameraDev(
const wpi::Twine& name,
int dev,
190 CS_Source CreateHttpCamera(
const wpi::Twine& name,
201 CS_SourceKind GetSourceKind(CS_Source source, CS_Status* status);
202 std::string GetSourceName(CS_Source source, CS_Status* status);
205 std::string GetSourceDescription(CS_Source source, CS_Status* status);
209 uint64_t GetSourceLastFrameTime(CS_Source source, CS_Status* status);
210 void SetSourceConnectionStrategy(CS_Source source,
213 bool IsSourceConnected(CS_Source source, CS_Status* status);
214 bool IsSourceEnabled(CS_Source source, CS_Status* status);
215 CS_Property GetSourceProperty(CS_Source source,
const wpi::Twine& name,
220 VideoMode GetSourceVideoMode(CS_Source source, CS_Status* status);
221 bool SetSourceVideoMode(CS_Source source,
const VideoMode& mode,
223 bool SetSourcePixelFormat(CS_Source source, VideoMode::PixelFormat pixelFormat,
225 bool SetSourceResolution(CS_Source source,
int width,
int height,
227 bool SetSourceFPS(CS_Source source,
int fps, CS_Status* status);
230 bool SetSourceConfigJson(CS_Source source,
const wpi::json& config,
232 std::string GetSourceConfigJson(CS_Source source, CS_Status* status);
233 wpi::json GetSourceConfigJsonObject(CS_Source source, CS_Status* status);
234 std::vector<VideoMode> EnumerateSourceVideoModes(CS_Source source,
239 CS_Source CopySource(CS_Source source, CS_Status* status);
240 void ReleaseSource(CS_Source source, CS_Status* status);
247 void SetCameraBrightness(CS_Source source,
int brightness, CS_Status* status);
248 int GetCameraBrightness(CS_Source source, CS_Status* status);
249 void SetCameraWhiteBalanceAuto(CS_Source source, CS_Status* status);
250 void SetCameraWhiteBalanceHoldCurrent(CS_Source source, CS_Status* status);
251 void SetCameraWhiteBalanceManual(CS_Source source,
int value,
253 void SetCameraExposureAuto(CS_Source source, CS_Status* status);
254 void SetCameraExposureHoldCurrent(CS_Source source, CS_Status* status);
255 void SetCameraExposureManual(CS_Source source,
int value, CS_Status* status);
262 std::string GetUsbCameraPath(CS_Source source, CS_Status* status);
272 std::vector<std::string> GetHttpCameraUrls(CS_Source source, CS_Status* status);
279 void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status);
280 void NotifySourceError(CS_Source source,
const wpi::Twine& msg,
282 void SetSourceConnected(CS_Source source,
bool connected, CS_Status* status);
283 void SetSourceDescription(CS_Source source,
const wpi::Twine& description,
285 CS_Property CreateSourceProperty(CS_Source source,
const wpi::Twine& name,
287 int step,
int defaultValue,
int value,
289 void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
298 CS_Sink CreateMjpegServer(
const wpi::Twine& name,
301 CS_Sink CreateCvSink(
const wpi::Twine& name, CS_Status* status);
302 CS_Sink CreateCvSinkCallback(
const wpi::Twine& name,
303 std::function<
void(uint64_t time)> processFrame,
311 CS_SinkKind GetSinkKind(CS_Sink sink, CS_Status* status);
312 std::string GetSinkName(CS_Sink sink, CS_Status* status);
315 std::string GetSinkDescription(CS_Sink sink, CS_Status* status);
318 CS_Property GetSinkProperty(CS_Sink sink,
const wpi::Twine& name,
322 void SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status);
323 CS_Property GetSinkSourceProperty(CS_Sink sink,
const wpi::Twine& name,
325 CS_Source GetSinkSource(CS_Sink sink, CS_Status* status);
326 CS_Sink CopySink(CS_Sink sink, CS_Status* status);
327 void ReleaseSink(CS_Sink sink, CS_Status* status);
334 std::string GetMjpegServerListenAddress(CS_Sink sink, CS_Status* status);
335 int GetMjpegServerPort(CS_Sink sink, CS_Status* status);
342 void SetSinkDescription(CS_Sink sink,
const wpi::Twine& description,
344 uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat& image, CS_Status* status);
345 uint64_t GrabSinkFrameTimeout(CS_Sink sink, cv::Mat& image,
double timeout,
347 std::string GetSinkError(CS_Sink sink, CS_Status* status);
350 void SetSinkEnabled(CS_Sink sink,
bool enabled, CS_Status* status);
357 void SetListenerOnStart(std::function<
void()> onStart);
358 void SetListenerOnExit(std::function<
void()> onExit);
360 CS_Listener AddListener(std::function<
void(
const RawEvent& event)> callback,
361 int eventMask,
bool immediateNotify, CS_Status* status);
363 void RemoveListener(CS_Listener handle, CS_Status* status);
366 bool NotifierDestroyed();
372 void SetTelemetryPeriod(
double seconds);
373 double GetTelemetryElapsedTime();
384 using LogFunc = std::function<void(
unsigned int level,
const char* file,
385 unsigned int line,
const char* msg)>;
386 void SetLogger(LogFunc func,
unsigned int min_level);
387 void SetDefaultLogger(
unsigned int min_level);
401 std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status);
408 std::string GetHostname();
410 std::vector<std::string> GetNetworkInterfaces();
424 uint64_t CS_GrabSinkFrameCpp(CS_Sink sink, cv::Mat* image, CS_Status* status);
425 uint64_t CS_GrabSinkFrameTimeoutCpp(CS_Sink sink, cv::Mat* image,
426 double timeout, CS_Status* status);
427 void CS_PutSourceFrameCpp(CS_Source source, cv::Mat* image, CS_Status* status);
431 #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:87
Definition: cscore_cpp.h:24
WPILib C++ utilities (wpiutil) namespace.
Definition: SmallString.h:21
std::string str() const
Return the twine contents as a std::string.
CS_ConnectionStrategy
Connection strategy.
Definition: cscore_c.h:182
CS_SourceKind
Source kinds.
Definition: cscore_c.h:126
USB camera information.
Definition: cscore_cpp.h:48
a class to store JSON values
Definition: json.h:2714
StringRef - Represent a constant reference to a string, i.e.
Definition: StringRef.h:49
int dev
Device number (e.g.
Definition: cscore_cpp.h:50
CS_PropertyKind
Property kinds.
Definition: cscore_c.h:115
std::string path
Path to device if available (e.g.
Definition: cscore_cpp.h:52
std::string name
Vendor/model name of the camera as provided by the USB driver.
Definition: cscore_cpp.h:54
Twine - A lightweight data structure for efficiently representing the concatenation of temporary valu...
Definition: Twine.h:79
Video mode.
Definition: cscore_cpp.h:60
Video mode.
Definition: cscore_c.h:105