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cscore_oo.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2015-2018 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_OO_H_
9 #define CSCORE_CSCORE_OO_H_
10 
11 #include <initializer_list>
12 #include <string>
13 #include <utility>
14 #include <vector>
15 
16 #include "cscore_cpp.h"
17 
18 namespace cs {
19 
30 // Forward declarations so friend declarations work correctly
31 class CvSource;
32 class VideoEvent;
33 class VideoSink;
34 class VideoSource;
35 
40  friend class CvSource;
41  friend class VideoEvent;
42  friend class VideoSink;
43  friend class VideoSource;
44 
45  public:
46  enum Kind {
47  kNone = CS_PROP_NONE,
48  kBoolean = CS_PROP_BOOLEAN,
49  kInteger = CS_PROP_INTEGER,
50  kString = CS_PROP_STRING,
51  kEnum = CS_PROP_ENUM
52  };
53 
54  VideoProperty() : m_handle(0), m_kind(kNone) {}
55 
56  std::string GetName() const;
57 
58  Kind GetKind() const { return m_kind; }
59 
60  explicit operator bool() const { return m_kind != kNone; }
61 
62  // Kind checkers
63  bool IsBoolean() const { return m_kind == kBoolean; }
64  bool IsInteger() const { return m_kind == kInteger; }
65  bool IsString() const { return m_kind == kString; }
66  bool IsEnum() const { return m_kind == kEnum; }
67 
68  int Get() const;
69  void Set(int value);
70  int GetMin() const;
71  int GetMax() const;
72  int GetStep() const;
73  int GetDefault() const;
74 
75  // String-specific functions
76  std::string GetString() const;
77  wpi::StringRef GetString(wpi::SmallVectorImpl<char>& buf) const;
78  void SetString(const wpi::Twine& value);
79 
80  // Enum-specific functions
81  std::vector<std::string> GetChoices() const;
82 
83  CS_Status GetLastStatus() const { return m_status; }
84 
85  private:
86  explicit VideoProperty(CS_Property handle);
87  VideoProperty(CS_Property handle, Kind kind);
88 
89  mutable CS_Status m_status;
90  CS_Property m_handle;
91  Kind m_kind;
92 };
93 
97 class VideoSource {
98  friend class VideoEvent;
99  friend class VideoSink;
100 
101  public:
102  enum Kind {
103  kUnknown = CS_SOURCE_UNKNOWN,
104  kUsb = CS_SOURCE_USB,
105  kHttp = CS_SOURCE_HTTP,
106  kCv = CS_SOURCE_CV
107  };
108 
116 
122 
128  };
129 
130  VideoSource() noexcept : m_handle(0) {}
131  VideoSource(const VideoSource& source);
132  VideoSource(VideoSource&& other) noexcept;
133  VideoSource& operator=(VideoSource other) noexcept;
134  ~VideoSource();
135 
136  explicit operator bool() const { return m_handle != 0; }
137 
138  int GetHandle() const { return m_handle; }
139 
140  bool operator==(const VideoSource& other) const {
141  return m_handle == other.m_handle;
142  }
143 
144  bool operator!=(const VideoSource& other) const { return !(*this == other); }
145 
149  Kind GetKind() const;
150 
155  std::string GetName() const;
156 
160  std::string GetDescription() const;
161 
168  uint64_t GetLastFrameTime() const;
169 
180 
184  bool IsConnected() const;
185 
192  bool IsEnabled() const;
193 
200  VideoProperty GetProperty(const wpi::Twine& name);
201 
205  std::vector<VideoProperty> EnumerateProperties() const;
206 
210  VideoMode GetVideoMode() const;
211 
217  bool SetVideoMode(const VideoMode& mode);
218 
228  bool SetVideoMode(VideoMode::PixelFormat pixelFormat, int width, int height,
229  int fps);
230 
237  bool SetPixelFormat(VideoMode::PixelFormat pixelFormat);
238 
246  bool SetResolution(int width, int height);
247 
254  bool SetFPS(int fps);
255 
282  bool SetConfigJson(wpi::StringRef config);
283 
290  bool SetConfigJson(const wpi::json& config);
291 
297  std::string GetConfigJson() const;
298 
305 
313  double GetActualFPS() const;
314 
322  double GetActualDataRate() const;
323 
327  std::vector<VideoMode> EnumerateVideoModes() const;
328 
329  CS_Status GetLastStatus() const { return m_status; }
330 
336  std::vector<VideoSink> EnumerateSinks();
337 
343  static std::vector<VideoSource> EnumerateSources();
344 
345  friend void swap(VideoSource& first, VideoSource& second) noexcept {
346  using std::swap;
347  swap(first.m_status, second.m_status);
348  swap(first.m_handle, second.m_handle);
349  }
350 
351  protected:
352  explicit VideoSource(CS_Source handle) : m_handle(handle) {}
353 
354  mutable CS_Status m_status = 0;
355  CS_Source m_handle;
356 };
357 
361 class VideoCamera : public VideoSource {
362  public:
363  enum WhiteBalance {
364  kFixedIndoor = 3000,
365  kFixedOutdoor1 = 4000,
366  kFixedOutdoor2 = 5000,
367  kFixedFluorescent1 = 5100,
368  kFixedFlourescent2 = 5200
369  };
370 
371  VideoCamera() = default;
372 
376  void SetBrightness(int brightness);
377 
381  int GetBrightness();
382 
386  void SetWhiteBalanceAuto();
387 
392 
396  void SetWhiteBalanceManual(int value);
397 
401  void SetExposureAuto();
402 
406  void SetExposureHoldCurrent();
407 
411  void SetExposureManual(int value);
412 
413  protected:
414  explicit VideoCamera(CS_Source handle) : VideoSource(handle) {}
415 };
416 
420 class UsbCamera : public VideoCamera {
421  public:
422  UsbCamera() = default;
423 
430  UsbCamera(const wpi::Twine& name, int dev);
431 
438  UsbCamera(const wpi::Twine& name, const wpi::Twine& path);
439 
445  static std::vector<UsbCameraInfo> EnumerateUsbCameras();
446 
450  std::string GetPath() const;
451 
455  UsbCameraInfo GetInfo() const;
456 
462  void SetConnectVerbose(int level);
463 };
464 
468 class HttpCamera : public VideoCamera {
469  public:
470  enum HttpCameraKind {
471  kUnknown = CS_HTTP_UNKNOWN,
472  kMJPGStreamer = CS_HTTP_MJPGSTREAMER,
473  kCSCore = CS_HTTP_CSCORE,
474  kAxis = CS_HTTP_AXIS
475  };
476 
484  HttpCamera(const wpi::Twine& name, const wpi::Twine& url,
485  HttpCameraKind kind = kUnknown);
486 
494  HttpCamera(const wpi::Twine& name, const char* url,
495  HttpCameraKind kind = kUnknown);
496 
504  HttpCamera(const wpi::Twine& name, const std::string& url,
505  HttpCameraKind kind = kUnknown);
506 
515  HttpCameraKind kind = kUnknown);
516 
524  template <typename T>
525  HttpCamera(const wpi::Twine& name, std::initializer_list<T> urls,
526  HttpCameraKind kind = kUnknown);
527 
534  HttpCameraKind GetHttpCameraKind() const;
535 
540 
544  template <typename T>
545  void SetUrls(std::initializer_list<T> urls);
546 
550  std::vector<std::string> GetUrls() const;
551 };
552 
556 class AxisCamera : public HttpCamera {
557  static std::string HostToUrl(const wpi::Twine& host);
558  static std::vector<std::string> HostToUrl(wpi::ArrayRef<std::string> hosts);
559  template <typename T>
560  static std::vector<std::string> HostToUrl(std::initializer_list<T> hosts);
561 
562  public:
570  AxisCamera(const wpi::Twine& name, const wpi::Twine& host);
571 
579  AxisCamera(const wpi::Twine& name, const char* host);
580 
588  AxisCamera(const wpi::Twine& name, const std::string& host);
589 
597  AxisCamera(const wpi::Twine& name, wpi::StringRef host);
598 
607 
615  template <typename T>
616  AxisCamera(const wpi::Twine& name, std::initializer_list<T> hosts);
617 };
618 
622 class CvSource : public VideoSource {
623  public:
624  CvSource() = default;
625 
632  CvSource(const wpi::Twine& name, const VideoMode& mode);
633 
643  CvSource(const wpi::Twine& name, VideoMode::PixelFormat pixelFormat,
644  int width, int height, int fps);
645 
655  void PutFrame(cv::Mat& image);
656 
661  void NotifyError(const wpi::Twine& msg);
662 
668  void SetConnected(bool connected);
669 
675  void SetDescription(const wpi::Twine& description);
676 
689  VideoProperty CreateProperty(const wpi::Twine& name, VideoProperty::Kind kind,
690  int minimum, int maximum, int step,
691  int defaultValue, int value);
692 
704  VideoProperty CreateIntegerProperty(const wpi::Twine& name, int minimum,
705  int maximum, int step, int defaultValue,
706  int value);
707 
716  VideoProperty CreateBooleanProperty(const wpi::Twine& name, bool defaultValue,
717  bool value);
718 
728  const wpi::Twine& value);
729 
736  void SetEnumPropertyChoices(const VideoProperty& property,
738 
745  template <typename T>
746  void SetEnumPropertyChoices(const VideoProperty& property,
747  std::initializer_list<T> choices);
748 };
749 
753 class VideoSink {
754  friend class VideoEvent;
755  friend class VideoSource;
756 
757  public:
758  enum Kind {
759  kUnknown = CS_SINK_UNKNOWN,
760  kMjpeg = CS_SINK_MJPEG,
761  kCv = CS_SINK_CV
762  };
763 
764  VideoSink() noexcept : m_handle(0) {}
765  VideoSink(const VideoSink& sink);
766  VideoSink(VideoSink&& sink) noexcept;
767  VideoSink& operator=(VideoSink other) noexcept;
768  ~VideoSink();
769 
770  explicit operator bool() const { return m_handle != 0; }
771 
772  int GetHandle() const { return m_handle; }
773 
774  bool operator==(const VideoSink& other) const {
775  return m_handle == other.m_handle;
776  }
777 
778  bool operator!=(const VideoSink& other) const { return !(*this == other); }
779 
783  Kind GetKind() const;
784 
789  std::string GetName() const;
790 
794  std::string GetDescription() const;
795 
803  VideoProperty GetProperty(const wpi::Twine& name);
804 
808  std::vector<VideoProperty> EnumerateProperties() const;
809 
829  bool SetConfigJson(wpi::StringRef config);
830 
837  bool SetConfigJson(const wpi::json& config);
838 
844  std::string GetConfigJson() const;
845 
852 
860  void SetSource(VideoSource source);
861 
867  VideoSource GetSource() const;
868 
877 
878  CS_Status GetLastStatus() const { return m_status; }
879 
885  static std::vector<VideoSink> EnumerateSinks();
886 
887  friend void swap(VideoSink& first, VideoSink& second) noexcept {
888  using std::swap;
889  swap(first.m_status, second.m_status);
890  swap(first.m_handle, second.m_handle);
891  }
892 
893  protected:
894  explicit VideoSink(CS_Sink handle) : m_handle(handle) {}
895 
896  mutable CS_Status m_status = 0;
897  CS_Sink m_handle;
898 };
899 
903 class MjpegServer : public VideoSink {
904  public:
905  MjpegServer() = default;
906 
914  MjpegServer(const wpi::Twine& name, const wpi::Twine& listenAddress,
915  int port);
916 
923  MjpegServer(const wpi::Twine& name, int port) : MjpegServer(name, "", port) {}
924 
928  std::string GetListenAddress() const;
929 
933  int GetPort() const;
934 
949  void SetResolution(int width, int height);
950 
958  void SetFPS(int fps);
959 
969  void SetCompression(int quality);
970 
978  void SetDefaultCompression(int quality);
979 };
980 
984 class CvSink : public VideoSink {
985  public:
986  CvSink() = default;
987 
996  explicit CvSink(const wpi::Twine& name);
997 
1010  CvSink(const wpi::Twine& name,
1011  std::function<void(uint64_t time)> processFrame);
1012 
1018  void SetDescription(const wpi::Twine& description);
1019 
1029  uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225) const;
1030 
1039  uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
1040 
1045  std::string GetError() const;
1046 
1054  void SetEnabled(bool enabled);
1055 };
1056 
1060 class VideoEvent : public RawEvent {
1061  public:
1065  VideoSource GetSource() const;
1066 
1070  VideoSink GetSink() const;
1071 
1075  VideoProperty GetProperty() const;
1076 };
1077 
1083  public:
1084  VideoListener() : m_handle(0) {}
1085 
1094  VideoListener(std::function<void(const VideoEvent& event)> callback,
1095  int eventMask, bool immediateNotify);
1096 
1097  VideoListener(const VideoListener&) = delete;
1098  VideoListener& operator=(const VideoListener&) = delete;
1099  VideoListener(VideoListener&& other) noexcept;
1100  VideoListener& operator=(VideoListener&& other) noexcept;
1101  ~VideoListener();
1102 
1103  friend void swap(VideoListener& first, VideoListener& second) noexcept {
1104  using std::swap;
1105  swap(first.m_handle, second.m_handle);
1106  }
1107 
1108  private:
1109  CS_Listener m_handle;
1110 };
1111 
1114 } // namespace cs
1115 
1116 #include "cscore_oo.inl"
1117 
1118 #endif // CSCORE_CSCORE_OO_H_
int GetPort() const
Get the port number of the server.
Definition: cscore_oo.inl:549
void SetWhiteBalanceManual(int value)
Set the white balance to manual, with specified color temperature.
Definition: cscore_oo.inl:225
void SetFPS(int fps)
Set the stream frames per second (FPS) for clients that don't specify it.
Definition: cscore_oo.inl:561
CameraServer (cscore) namespace.
Definition: cscore_oo.inl:11
VideoSource GetSource() const
Get the connected source.
Definition: cscore_oo.inl:513
void SetCompression(int quality)
Set the compression for clients that don't specify it.
Definition: cscore_oo.inl:566
void SetDescription(const wpi::Twine &description)
Set source description.
Definition: cscore_oo.inl:406
wpi::json GetConfigJsonObject() const
Get a JSON configuration object.
void SetSource(VideoSource source)
Configure which source should provide frames to this sink.
Definition: cscore_oo.inl:505
A source for video that provides a sequence of frames.
Definition: cscore_oo.h:97
Try to keep the connection open regardless of whether any sinks are connected.
Definition: cscore_c.h:194
VideoSink GetSink() const
Get the sink associated with the event (if any).
Definition: cscore_oo.inl:617
A sink for video that accepts a sequence of frames.
Definition: cscore_oo.h:753
void SetEnumPropertyChoices(const VideoProperty &property, wpi::ArrayRef< std::string > choices)
Configure enum property choices.
Definition: cscore_oo.inl:452
ConnectionStrategy
Connection strategy.
Definition: cscore_oo.h:110
VideoProperty GetSourceProperty(const wpi::Twine &name)
Get a property of the associated source.
Definition: cscore_oo.inl:519
void SetExposureHoldCurrent()
Set the exposure to hold current.
Definition: cscore_oo.inl:235
std::vector< VideoMode > EnumerateVideoModes() const
Enumerate all known video modes for this source.
Definition: cscore_oo.inl:200
std::vector< VideoProperty > EnumerateProperties() const
Enumerate all properties of this sink.
An event generated by the library and provided to event listeners.
Definition: cscore_oo.h:1060
HttpCamera(const wpi::Twine &name, const wpi::Twine &url, HttpCameraKind kind=kUnknown)
Create a source for a MJPEG-over-HTTP (IP) camera.
Definition: cscore_oo.inl:274
VideoProperty GetProperty(const wpi::Twine &name)
Get a property of the sink.
Definition: cscore_oo.inl:500
bool IsConnected() const
Is the source currently connected to whatever is providing the images?
Definition: cscore_oo.inl:126
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:96
std::vector< std::string > GetUrls() const
Get the URLs used to connect to the camera.
Definition: cscore_oo.inl:332
A source that represents a USB camera.
Definition: cscore_oo.h:420
AxisCamera(const wpi::Twine &name, const wpi::Twine &host)
Create a source for an Axis IP camera.
Definition: cscore_oo.inl:360
An event listener.
Definition: cscore_oo.h:1082
uint64_t GrabFrame(cv::Mat &image, double timeout=0.225) const
Wait for the next frame and get the image.
Definition: cscore_oo.inl:592
VideoProperty CreateIntegerProperty(const wpi::Twine &name, int minimum, int maximum, int step, int defaultValue, int value)
Create an integer property.
Definition: cscore_oo.inl:422
A source that represents a MJPEG-over-HTTP (IP) camera.
Definition: cscore_oo.h:468
std::vector< VideoProperty > EnumerateProperties() const
Enumerate all properties of this source.
HttpCameraKind GetHttpCameraKind() const
Get the kind of HTTP camera.
Definition: cscore_oo.inl:312
void SetExposureManual(int value)
Set the exposure to manual, as a percentage (0-100).
Definition: cscore_oo.inl:240
double GetActualFPS() const
Get the actual FPS.
Definition: cscore_oo.inl:188
void SetDescription(const wpi::Twine &description)
Set sink description.
Definition: cscore_oo.inl:587
bool SetConfigJson(wpi::StringRef config)
Set video mode and properties from a JSON configuration string.
Definition: cscore_oo.inl:173
bool IsEnabled() const
Gets source enable status.
Definition: cscore_oo.inl:131
std::string GetName() const
Get the name of the sink.
Definition: cscore_oo.inl:490
Never open the connection.
Definition: cscore_c.h:200
Automatically connect or disconnect based on whether any sinks are connected to this source...
Definition: cscore_oo.h:115
uint64_t GrabFrameNoTimeout(cv::Mat &image) const
Wait for the next frame and get the image.
Definition: cscore_oo.inl:597
A source or sink property.
Definition: cscore_oo.h:39
Kind GetKind() const
Get the kind of the source.
Definition: cscore_oo.inl:99
Automatically connect or disconnect based on whether any sinks are connected to this source...
Definition: cscore_c.h:188
std::string GetDescription() const
Get the source description.
Definition: cscore_oo.inl:109
std::string GetName() const
Get the name of the source.
Definition: cscore_oo.inl:104
bool SetFPS(int fps)
Set the frames per second (FPS).
Definition: cscore_oo.inl:168
std::string GetError() const
Get error string.
Definition: cscore_oo.inl:602
void SetConnectionStrategy(ConnectionStrategy strategy)
Sets the connection strategy.
Definition: cscore_oo.inl:119
static std::vector< VideoSink > EnumerateSinks()
Enumerate all existing sinks.
std::vector< VideoSink > EnumerateSinks()
Enumerate all sinks connected to this source.
void SetResolution(int width, int height)
Set the stream resolution for clients that don't specify it.
Definition: cscore_oo.inl:554
USB camera information.
Definition: cscore_cpp.h:48
void SetWhiteBalanceHoldCurrent()
Set the white balance to hold current.
Definition: cscore_oo.inl:220
static std::vector< VideoSource > EnumerateSources()
Enumerate all existing sources.
bool SetResolution(int width, int height)
Set the resolution.
Definition: cscore_oo.inl:163
static std::vector< UsbCameraInfo > EnumerateUsbCameras()
Enumerate USB cameras on the local system.
Definition: cscore_oo.inl:253
A source for user code to provide OpenCV images as video frames.
Definition: cscore_oo.h:622
VideoProperty CreateStringProperty(const wpi::Twine &name, const wpi::Twine &value)
Create a string property.
Definition: cscore_oo.inl:441
void SetUrls(wpi::ArrayRef< std::string > urls)
Change the URLs used to connect to the camera.
Definition: cscore_oo.inl:318
void NotifyError(const wpi::Twine &msg)
Signal sinks that an error has occurred.
Definition: cscore_oo.inl:396
std::string GetConfigJson() const
Get a JSON configuration string.
Definition: cscore_oo.inl:534
void SetDefaultCompression(int quality)
Set the default compression used for non-MJPEG sources.
Definition: cscore_oo.inl:572
std::string GetDescription() const
Get the sink description.
Definition: cscore_oo.inl:495
a class to store JSON values
Definition: json.h:2714
void SetExposureAuto()
Set the exposure to auto aperature.
Definition: cscore_oo.inl:230
bool SetConfigJson(wpi::StringRef config)
Set properties from a JSON configuration string.
Definition: cscore_oo.inl:524
VideoMode GetVideoMode() const
Get the current video mode.
Definition: cscore_oo.inl:141
Try to keep the connection open regardless of whether any sinks are connected.
Definition: cscore_oo.h:121
VideoProperty CreateBooleanProperty(const wpi::Twine &name, bool defaultValue, bool value)
Create a boolean property.
Definition: cscore_oo.inl:432
StringRef - Represent a constant reference to a string, i.e.
Definition: StringRef.h:49
MjpegServer(const wpi::Twine &name, int port)
Create a MJPEG-over-HTTP server sink.
Definition: cscore_oo.h:923
std::string GetPath() const
Get the path to the device.
Definition: cscore_oo.inl:258
A source that represents a video camera.
Definition: cscore_oo.h:361
Kind GetKind() const
Get the kind of the sink.
Definition: cscore_oo.inl:485
void SetEnabled(bool enabled)
Enable or disable getting new frames.
Definition: cscore_oo.inl:607
bool SetPixelFormat(VideoMode::PixelFormat pixelFormat)
Set the pixel format.
Definition: cscore_oo.inl:158
VideoProperty GetProperty(const wpi::Twine &name)
Get a property.
Definition: cscore_oo.inl:136
VideoProperty CreateProperty(const wpi::Twine &name, VideoProperty::Kind kind, int minimum, int maximum, int step, int defaultValue, int value)
Create a property.
Definition: cscore_oo.inl:411
VideoSource GetSource() const
Get the source associated with the event (if any).
Definition: cscore_oo.inl:612
Twine - A lightweight data structure for efficiently representing the concatenation of temporary valu...
Definition: Twine.h:79
UsbCameraInfo GetInfo() const
Get the full camera information for the device.
Definition: cscore_oo.inl:263
void PutFrame(cv::Mat &image)
Put an OpenCV image and notify sinks.
Definition: cscore_oo.inl:391
A sink that acts as a MJPEG-over-HTTP network server.
Definition: cscore_oo.h:903
VideoProperty GetProperty() const
Get the property associated with the event (if any).
Definition: cscore_oo.inl:622
void SetConnectVerbose(int level)
Set how verbose the camera connection messages are.
Definition: cscore_oo.inl:268
Never open the connection.
Definition: cscore_oo.h:127
A source that represents an Axis IP camera.
Definition: cscore_oo.h:556
void SetBrightness(int brightness)
Set the brightness, as a percentage (0-100).
Definition: cscore_oo.inl:205
A sink for user code to accept video frames as OpenCV images.
Definition: cscore_oo.h:984
wpi::json GetConfigJsonObject() const
Get a JSON configuration object.
double GetActualDataRate() const
Get the data rate (in bytes per second).
Definition: cscore_oo.inl:194
uint64_t GetLastFrameTime() const
Get the last time a frame was captured.
Definition: cscore_oo.inl:114
std::string GetListenAddress() const
Get the listen address of the server.
Definition: cscore_oo.inl:544
Video mode.
Definition: cscore_cpp.h:62
void SetWhiteBalanceAuto()
Set the white balance to auto.
Definition: cscore_oo.inl:215
void SetConnected(bool connected)
Set source connection status.
Definition: cscore_oo.inl:401
bool SetVideoMode(const VideoMode &mode)
Set the video mode.
Definition: cscore_oo.inl:146
int GetBrightness()
Get the brightness, as a percentage (0-100).
Definition: cscore_oo.inl:210
std::string GetConfigJson() const
Get a JSON configuration string.
Definition: cscore_oo.inl:183