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; }
83 bool operator==(
const VideoMode& other)
const {
84 return pixelFormat == other.pixelFormat && width == other.width &&
85 height == other.height && fps == other.fps;
88 bool operator!=(
const VideoMode& other)
const {
return !(*
this == other); }
96 kSourceCreated = CS_SOURCE_CREATED,
97 kSourceDestroyed = CS_SOURCE_DESTROYED,
98 kSourceConnected = CS_SOURCE_CONNECTED,
99 kSourceDisconnected = CS_SOURCE_DISCONNECTED,
100 kSourceVideoModesUpdated = CS_SOURCE_VIDEOMODES_UPDATED,
101 kSourceVideoModeChanged = CS_SOURCE_VIDEOMODE_CHANGED,
102 kSourcePropertyCreated = CS_SOURCE_PROPERTY_CREATED,
103 kSourcePropertyValueUpdated = CS_SOURCE_PROPERTY_VALUE_UPDATED,
104 kSourcePropertyChoicesUpdated = CS_SOURCE_PROPERTY_CHOICES_UPDATED,
105 kSinkSourceChanged = CS_SINK_SOURCE_CHANGED,
106 kSinkCreated = CS_SINK_CREATED,
107 kSinkDestroyed = CS_SINK_DESTROYED,
108 kSinkEnabled = CS_SINK_ENABLED,
109 kSinkDisabled = CS_SINK_DISABLED,
110 kNetworkInterfacesChanged = CS_NETWORK_INTERFACES_CHANGED,
111 kTelemetryUpdated = CS_TELEMETRY_UPDATED,
112 kSinkPropertyCreated = CS_SINK_PROPERTY_CREATED,
113 kSinkPropertyValueUpdated = CS_SINK_PROPERTY_VALUE_UPDATED,
114 kSinkPropertyChoicesUpdated = CS_SINK_PROPERTY_CHOICES_UPDATED
118 explicit RawEvent(RawEvent::Kind kind_) : kind{kind_} {}
120 : kind{kind_}, name{name_.
str()} {
121 if (kind_ == kSinkCreated || kind_ == kSinkDestroyed ||
122 kind_ == kSinkEnabled || kind_ == kSinkDisabled)
123 sinkHandle = handle_;
125 sourceHandle = handle_;
128 : kind{kSourceVideoModeChanged},
129 sourceHandle{source_},
136 sourceHandle{source_},
138 propertyHandle{property_},
139 propertyKind{propertyKind_},
141 valueStr{valueStr_.
str()} {}
146 CS_Source sourceHandle = CS_INVALID_HANDLE;
147 CS_Sink sinkHandle = CS_INVALID_HANDLE;
156 CS_Property propertyHandle;
159 std::string valueStr;
166 CS_PropertyKind GetPropertyKind(CS_Property property, CS_Status* status);
167 std::string GetPropertyName(CS_Property property, CS_Status* status);
171 int GetProperty(CS_Property property, CS_Status* status);
172 void SetProperty(CS_Property property,
int value, CS_Status* status);
173 int GetPropertyMin(CS_Property property, CS_Status* status);
174 int GetPropertyMax(CS_Property property, CS_Status* status);
175 int GetPropertyStep(CS_Property property, CS_Status* status);
176 int GetPropertyDefault(CS_Property property, CS_Status* status);
177 std::string GetStringProperty(CS_Property property, CS_Status* status);
181 void SetStringProperty(CS_Property property,
const wpi::Twine& value,
183 std::vector<std::string> GetEnumPropertyChoices(CS_Property property,
191 CS_Source CreateUsbCameraDev(
const wpi::Twine& name,
int dev,
197 CS_Source CreateHttpCamera(
const wpi::Twine& name,
208 CS_SourceKind GetSourceKind(CS_Source source, CS_Status* status);
209 std::string GetSourceName(CS_Source source, CS_Status* status);
212 std::string GetSourceDescription(CS_Source source, CS_Status* status);
216 uint64_t GetSourceLastFrameTime(CS_Source source, CS_Status* status);
217 void SetSourceConnectionStrategy(CS_Source source,
220 bool IsSourceConnected(CS_Source source, CS_Status* status);
221 bool IsSourceEnabled(CS_Source source, CS_Status* status);
222 CS_Property GetSourceProperty(CS_Source source,
const wpi::Twine& name,
227 VideoMode GetSourceVideoMode(CS_Source source, CS_Status* status);
228 bool SetSourceVideoMode(CS_Source source,
const VideoMode& mode,
230 bool SetSourcePixelFormat(CS_Source source, VideoMode::PixelFormat pixelFormat,
232 bool SetSourceResolution(CS_Source source,
int width,
int height,
234 bool SetSourceFPS(CS_Source source,
int fps, CS_Status* status);
237 bool SetSourceConfigJson(CS_Source source,
const wpi::json& config,
239 std::string GetSourceConfigJson(CS_Source source, CS_Status* status);
240 wpi::json GetSourceConfigJsonObject(CS_Source source, CS_Status* status);
241 std::vector<VideoMode> EnumerateSourceVideoModes(CS_Source source,
246 CS_Source CopySource(CS_Source source, CS_Status* status);
247 void ReleaseSource(CS_Source source, CS_Status* status);
254 void SetCameraBrightness(CS_Source source,
int brightness, CS_Status* status);
255 int GetCameraBrightness(CS_Source source, CS_Status* status);
256 void SetCameraWhiteBalanceAuto(CS_Source source, CS_Status* status);
257 void SetCameraWhiteBalanceHoldCurrent(CS_Source source, CS_Status* status);
258 void SetCameraWhiteBalanceManual(CS_Source source,
int value,
260 void SetCameraExposureAuto(CS_Source source, CS_Status* status);
261 void SetCameraExposureHoldCurrent(CS_Source source, CS_Status* status);
262 void SetCameraExposureManual(CS_Source source,
int value, CS_Status* status);
269 std::string GetUsbCameraPath(CS_Source source, CS_Status* status);
279 std::vector<std::string> GetHttpCameraUrls(CS_Source source, CS_Status* status);
286 void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status);
287 void NotifySourceError(CS_Source source,
const wpi::Twine& msg,
289 void SetSourceConnected(CS_Source source,
bool connected, CS_Status* status);
290 void SetSourceDescription(CS_Source source,
const wpi::Twine& description,
292 CS_Property CreateSourceProperty(CS_Source source,
const wpi::Twine& name,
294 int step,
int defaultValue,
int value,
296 void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
305 CS_Sink CreateMjpegServer(
const wpi::Twine& name,
308 CS_Sink CreateCvSink(
const wpi::Twine& name, CS_Status* status);
309 CS_Sink CreateCvSinkCallback(
const wpi::Twine& name,
310 std::function<
void(uint64_t time)> processFrame,
318 CS_SinkKind GetSinkKind(CS_Sink sink, CS_Status* status);
319 std::string GetSinkName(CS_Sink sink, CS_Status* status);
322 std::string GetSinkDescription(CS_Sink sink, CS_Status* status);
325 CS_Property GetSinkProperty(CS_Sink sink,
const wpi::Twine& name,
329 void SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status);
330 CS_Property GetSinkSourceProperty(CS_Sink sink,
const wpi::Twine& name,
332 CS_Source GetSinkSource(CS_Sink sink, CS_Status* status);
333 CS_Sink CopySink(CS_Sink sink, CS_Status* status);
334 void ReleaseSink(CS_Sink sink, CS_Status* status);
341 std::string GetMjpegServerListenAddress(CS_Sink sink, CS_Status* status);
342 int GetMjpegServerPort(CS_Sink sink, CS_Status* status);
349 void SetSinkDescription(CS_Sink sink,
const wpi::Twine& description,
351 uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat& image, CS_Status* status);
352 uint64_t GrabSinkFrameTimeout(CS_Sink sink, cv::Mat& image,
double timeout,
354 std::string GetSinkError(CS_Sink sink, CS_Status* status);
357 void SetSinkEnabled(CS_Sink sink,
bool enabled, CS_Status* status);
364 void SetListenerOnStart(std::function<
void()> onStart);
365 void SetListenerOnExit(std::function<
void()> onExit);
367 CS_Listener AddListener(std::function<
void(
const RawEvent& event)> callback,
368 int eventMask,
bool immediateNotify, CS_Status* status);
370 void RemoveListener(CS_Listener handle, CS_Status* status);
373 bool NotifierDestroyed();
379 void SetTelemetryPeriod(
double seconds);
380 double GetTelemetryElapsedTime();
391 using LogFunc = std::function<void(
unsigned int level,
const char* file,
392 unsigned int line,
const char* msg)>;
393 void SetLogger(LogFunc func,
unsigned int min_level);
394 void SetDefaultLogger(
unsigned int min_level);
408 std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status);
415 std::string GetHostname();
417 std::vector<std::string> GetNetworkInterfaces();
431 uint64_t CS_GrabSinkFrameCpp(CS_Sink sink, cv::Mat* image, CS_Status* status);
432 uint64_t CS_GrabSinkFrameTimeoutCpp(CS_Sink sink, cv::Mat* image,
433 double timeout, CS_Status* status);
434 void CS_PutSourceFrameCpp(CS_Source source, cv::Mat* image, CS_Status* status);
438 #endif // CSCORE_CSCORE_CPP_H_
CS_TelemetryKind
Telemetry kinds.
Definition: cscore_c.h:177
CameraServer (cscore) namespace.
Definition: cscore_oo.inl:11
CS_HttpCameraKind
HTTP Camera kinds.
Definition: cscore_c.h:137
CS_SinkKind
Sink kinds.
Definition: cscore_c.h:147
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:94
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:183
CS_SourceKind
Source kinds.
Definition: cscore_c.h:127
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:116
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:106