Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/cameraserver/src/main/native/include/CameraServer.h b/cameraserver/src/main/native/include/CameraServer.h
new file mode 100644
index 0000000..2fcc0f2
--- /dev/null
+++ b/cameraserver/src/main/native/include/CameraServer.h
@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+// clang-format off
+#ifdef _MSC_VER
+#pragma message "warning: CameraServer.h is deprecated; include cameraserver/CameraServer.h instead"
+#else
+#warning "CameraServer.h is deprecated; include cameraserver/CameraServer.h instead"
+#endif
+
+// clang-format on
+
+#include "cameraserver/CameraServer.h"
diff --git a/cameraserver/src/main/native/include/cameraserver/CameraServer.h b/cameraserver/src/main/native/include/cameraserver/CameraServer.h
new file mode 100644
index 0000000..42a9f0c
--- /dev/null
+++ b/cameraserver/src/main/native/include/cameraserver/CameraServer.h
@@ -0,0 +1,289 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <memory>
+#include <string>
+
+#include <wpi/ArrayRef.h>
+#include <wpi/Twine.h>
+
+#include "cscore.h"
+
+namespace frc {
+
+/**
+ * Singleton class for creating and keeping camera servers.
+ *
+ * Also publishes camera information to NetworkTables.
+ */
+class CameraServer {
+ public:
+ static constexpr uint16_t kBasePort = 1181;
+ static constexpr int kSize640x480 = 0;
+ static constexpr int kSize320x240 = 1;
+ static constexpr int kSize160x120 = 2;
+
+ /**
+ * Get the CameraServer instance.
+ */
+ static CameraServer* GetInstance();
+
+ /**
+ * Start automatically capturing images to send to the dashboard.
+ *
+ * You should call this method to see a camera feed on the dashboard. If you
+ * also want to perform vision processing on the roboRIO, use getVideo() to
+ * get access to the camera images.
+ *
+ * The first time this overload is called, it calls StartAutomaticCapture()
+ * with device 0, creating a camera named "USB Camera 0". Subsequent calls
+ * increment the device number (e.g. 1, 2, etc).
+ */
+ cs::UsbCamera StartAutomaticCapture();
+
+ /**
+ * Start automatically capturing images to send to the dashboard.
+ *
+ * This overload calls StartAutomaticCapture() with a name of "USB Camera
+ * {dev}".
+ *
+ * @param dev The device number of the camera interface
+ */
+ cs::UsbCamera StartAutomaticCapture(int dev);
+
+ /**
+ * Start automatically capturing images to send to the dashboard.
+ *
+ * @param name The name to give the camera
+ * @param dev The device number of the camera interface
+ */
+ cs::UsbCamera StartAutomaticCapture(const wpi::Twine& name, int dev);
+
+ /**
+ * Start automatically capturing images to send to the dashboard.
+ *
+ * @param name The name to give the camera
+ * @param path The device path (e.g. "/dev/video0") of the camera
+ */
+ cs::UsbCamera StartAutomaticCapture(const wpi::Twine& name,
+ const wpi::Twine& path);
+
+ /**
+ * Start automatically capturing images to send to the dashboard from
+ * an existing camera.
+ *
+ * @param camera Camera
+ */
+ cs::MjpegServer StartAutomaticCapture(const cs::VideoSource& camera);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * This overload calls AddAxisCamera() with name "Axis Camera".
+ *
+ * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+ */
+ cs::AxisCamera AddAxisCamera(const wpi::Twine& host);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * This overload calls AddAxisCamera() with name "Axis Camera".
+ *
+ * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+ */
+ cs::AxisCamera AddAxisCamera(const char* host);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * This overload calls AddAxisCamera() with name "Axis Camera".
+ *
+ * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+ */
+ cs::AxisCamera AddAxisCamera(const std::string& host);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * This overload calls AddAxisCamera() with name "Axis Camera".
+ *
+ * @param hosts Array of Camera host IPs/DNS names
+ */
+ cs::AxisCamera AddAxisCamera(wpi::ArrayRef<std::string> hosts);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * This overload calls AddAxisCamera() with name "Axis Camera".
+ *
+ * @param hosts Array of Camera host IPs/DNS names
+ */
+ template <typename T>
+ cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * @param name The name to give the camera
+ * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+ */
+ cs::AxisCamera AddAxisCamera(const wpi::Twine& name, const wpi::Twine& host);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * @param name The name to give the camera
+ * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+ */
+ cs::AxisCamera AddAxisCamera(const wpi::Twine& name, const char* host);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * @param name The name to give the camera
+ * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+ */
+ cs::AxisCamera AddAxisCamera(const wpi::Twine& name, const std::string& host);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * @param name The name to give the camera
+ * @param hosts Array of Camera host IPs/DNS names
+ */
+ cs::AxisCamera AddAxisCamera(const wpi::Twine& name,
+ wpi::ArrayRef<std::string> hosts);
+
+ /**
+ * Adds an Axis IP camera.
+ *
+ * @param name The name to give the camera
+ * @param hosts Array of Camera host IPs/DNS names
+ */
+ template <typename T>
+ cs::AxisCamera AddAxisCamera(const wpi::Twine& name,
+ std::initializer_list<T> hosts);
+
+ /**
+ * Get OpenCV access to the primary camera feed. This allows you to
+ * get images from the camera for image processing on the roboRIO.
+ *
+ * <p>This is only valid to call after a camera feed has been added
+ * with startAutomaticCapture() or addServer().
+ */
+ cs::CvSink GetVideo();
+
+ /**
+ * Get OpenCV access to the specified camera. This allows you to get
+ * images from the camera for image processing on the roboRIO.
+ *
+ * @param camera Camera (e.g. as returned by startAutomaticCapture).
+ */
+ cs::CvSink GetVideo(const cs::VideoSource& camera);
+
+ /**
+ * Get OpenCV access to the specified camera. This allows you to get
+ * images from the camera for image processing on the roboRIO.
+ *
+ * @param name Camera name
+ */
+ cs::CvSink GetVideo(const wpi::Twine& name);
+
+ /**
+ * Create a MJPEG stream with OpenCV input. This can be called to pass custom
+ * annotated images to the dashboard.
+ *
+ * @param name Name to give the stream
+ * @param width Width of the image being sent
+ * @param height Height of the image being sent
+ */
+ cs::CvSource PutVideo(const wpi::Twine& name, int width, int height);
+
+ /**
+ * Adds a MJPEG server at the next available port.
+ *
+ * @param name Server name
+ */
+ cs::MjpegServer AddServer(const wpi::Twine& name);
+
+ /**
+ * Adds a MJPEG server.
+ *
+ * @param name Server name
+ */
+ cs::MjpegServer AddServer(const wpi::Twine& name, int port);
+
+ /**
+ * Adds an already created server.
+ *
+ * @param server Server
+ */
+ void AddServer(const cs::VideoSink& server);
+
+ /**
+ * Removes a server by name.
+ *
+ * @param name Server name
+ */
+ void RemoveServer(const wpi::Twine& name);
+
+ /**
+ * Get server for the primary camera feed.
+ *
+ * This is only valid to call after a camera feed has been added with
+ * StartAutomaticCapture() or AddServer().
+ */
+ cs::VideoSink GetServer();
+
+ /**
+ * Gets a server by name.
+ *
+ * @param name Server name
+ */
+ cs::VideoSink GetServer(const wpi::Twine& name);
+
+ /**
+ * Adds an already created camera.
+ *
+ * @param camera Camera
+ */
+ void AddCamera(const cs::VideoSource& camera);
+
+ /**
+ * Removes a camera by name.
+ *
+ * @param name Camera name
+ */
+ void RemoveCamera(const wpi::Twine& name);
+
+ /**
+ * Sets the size of the image to use. Use the public kSize constants to set
+ * the correct mode, or set it directly on a camera and call the appropriate
+ * StartAutomaticCapture method.
+ *
+ * @deprecated Use SetResolution on the UsbCamera returned by
+ * StartAutomaticCapture() instead.
+ * @param size The size to use
+ */
+ void SetSize(int size);
+
+ private:
+ CameraServer();
+ ~CameraServer();
+
+ struct Impl;
+ std::unique_ptr<Impl> m_impl;
+};
+
+} // namespace frc
+
+#include "cameraserver/CameraServer.inc"
diff --git a/cameraserver/src/main/native/include/cameraserver/CameraServer.inc b/cameraserver/src/main/native/include/cameraserver/CameraServer.inc
new file mode 100644
index 0000000..5daf29f
--- /dev/null
+++ b/cameraserver/src/main/native/include/cameraserver/CameraServer.inc
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+#include <vector>
+
+namespace frc {
+
+template <typename T>
+inline cs::AxisCamera CameraServer::AddAxisCamera(
+ std::initializer_list<T> hosts) {
+ return AddAxisCamera("Axis Camera", hosts);
+}
+
+template <typename T>
+inline cs::AxisCamera CameraServer::AddAxisCamera(
+ const wpi::Twine& name, std::initializer_list<T> hosts) {
+ std::vector<std::string> vec;
+ vec.reserve(hosts.size());
+ for (const auto& host : hosts) vec.emplace_back(host);
+ return AddAxisCamera(name, vec);
+}
+
+} // namespace frc
diff --git a/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h b/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h
new file mode 100644
index 0000000..72b784e
--- /dev/null
+++ b/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h
@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <thread>
+#include <utility>
+
+#include <wpi/Twine.h>
+
+namespace frc {
+class CameraServerShared {
+ public:
+ virtual ~CameraServerShared() = default;
+ virtual void ReportUsbCamera(int id) = 0;
+ virtual void ReportAxisCamera(int id) = 0;
+ virtual void ReportVideoServer(int id) = 0;
+ virtual void SetCameraServerError(const wpi::Twine& error) = 0;
+ virtual void SetVisionRunnerError(const wpi::Twine& error) = 0;
+ virtual void ReportDriverStationError(const wpi::Twine& error) = 0;
+ virtual std::pair<std::thread::id, bool> GetRobotMainThreadId() const = 0;
+};
+
+void SetCameraServerShared(std::unique_ptr<CameraServerShared> shared);
+CameraServerShared* GetCameraServerShared();
+} // namespace frc
diff --git a/cameraserver/src/main/native/include/vision/VisionPipeline.h b/cameraserver/src/main/native/include/vision/VisionPipeline.h
new file mode 100644
index 0000000..de8e54c
--- /dev/null
+++ b/cameraserver/src/main/native/include/vision/VisionPipeline.h
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace cv {
+class Mat;
+} // namespace cv
+
+namespace frc {
+
+/**
+ * A vision pipeline is responsible for running a group of OpenCV algorithms to
+ * extract data from an image.
+ *
+ * @see VisionRunner
+ */
+class VisionPipeline {
+ public:
+ virtual ~VisionPipeline() = default;
+
+ /**
+ * Processes the image input and sets the result objects. Implementations
+ * should make these objects accessible.
+ */
+ virtual void Process(cv::Mat& mat) = 0;
+};
+} // namespace frc
diff --git a/cameraserver/src/main/native/include/vision/VisionRunner.h b/cameraserver/src/main/native/include/vision/VisionRunner.h
new file mode 100644
index 0000000..a317f80
--- /dev/null
+++ b/cameraserver/src/main/native/include/vision/VisionRunner.h
@@ -0,0 +1,99 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <atomic>
+#include <functional>
+#include <memory>
+
+#include "cscore.h"
+#include "vision/VisionPipeline.h"
+
+namespace frc {
+
+/**
+ * Non-template base class for VisionRunner.
+ */
+class VisionRunnerBase {
+ public:
+ /**
+ * Creates a new vision runner. It will take images from the {@code
+ * videoSource}, and call the virtual DoProcess() method.
+ *
+ * @param videoSource the video source to use to supply images for the
+ * pipeline
+ */
+ explicit VisionRunnerBase(cs::VideoSource videoSource);
+
+ ~VisionRunnerBase();
+
+ VisionRunnerBase(const VisionRunnerBase&) = delete;
+ VisionRunnerBase& operator=(const VisionRunnerBase&) = delete;
+
+ /**
+ * Runs the pipeline one time, giving it the next image from the video source
+ * specified in the constructor. This will block until the source either has
+ * an image or throws an error. If the source successfully supplied a frame,
+ * the pipeline's image input will be set, the pipeline will run, and the
+ * listener specified in the constructor will be called to notify it that the
+ * pipeline ran. This must be run in a dedicated thread, and cannot be used in
+ * the main robot thread because it will freeze the robot program.
+ *
+ * <p>This method is exposed to allow teams to add additional functionality or
+ * have their own ways to run the pipeline. Most teams, however, should just
+ * use {@link #runForever} in its own thread using a std::thread.</p>
+ */
+ void RunOnce();
+
+ /**
+ * A convenience method that calls {@link #runOnce()} in an infinite loop.
+ * This must be run in a dedicated thread, and cannot be used in the main
+ * robot thread because it will freeze the robot program.
+ *
+ * <strong>Do not call this method directly from the main thread.</strong>
+ */
+ void RunForever();
+
+ /**
+ * Stop a RunForever() loop.
+ */
+ void Stop();
+
+ protected:
+ virtual void DoProcess(cv::Mat& image) = 0;
+
+ private:
+ std::unique_ptr<cv::Mat> m_image;
+ cs::CvSink m_cvSink;
+ std::atomic_bool m_enabled;
+};
+
+/**
+ * A vision runner is a convenient wrapper object to make it easy to run vision
+ * pipelines from robot code. The easiest way to use this is to run it in a
+ * std::thread and use the listener to take snapshots of the pipeline's outputs.
+ *
+ * @see VisionPipeline
+ */
+template <typename T>
+class VisionRunner : public VisionRunnerBase {
+ public:
+ VisionRunner(cs::VideoSource videoSource, T* pipeline,
+ std::function<void(T&)> listener);
+ virtual ~VisionRunner() = default;
+
+ protected:
+ void DoProcess(cv::Mat& image) override;
+
+ private:
+ T* m_pipeline;
+ std::function<void(T&)> m_listener;
+};
+} // namespace frc
+
+#include "VisionRunner.inc"
diff --git a/cameraserver/src/main/native/include/vision/VisionRunner.inc b/cameraserver/src/main/native/include/vision/VisionRunner.inc
new file mode 100644
index 0000000..1a38048
--- /dev/null
+++ b/cameraserver/src/main/native/include/vision/VisionRunner.inc
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace frc {
+
+/**
+ * Creates a new vision runner. It will take images from the {@code
+ * videoSource}, send them to the {@code pipeline}, and call the {@code
+ * listener} when the pipeline has finished to alert user code when it is safe
+ * to access the pipeline's outputs.
+ *
+ * @param videoSource The video source to use to supply images for the pipeline
+ * @param pipeline The vision pipeline to run
+ * @param listener A function to call after the pipeline has finished running
+ */
+template <typename T>
+VisionRunner<T>::VisionRunner(cs::VideoSource videoSource, T* pipeline,
+ std::function<void(T&)> listener)
+ : VisionRunnerBase(videoSource),
+ m_pipeline(pipeline),
+ m_listener(listener) {}
+
+template <typename T>
+void VisionRunner<T>::DoProcess(cv::Mat& image) {
+ m_pipeline->Process(image);
+ m_listener(*m_pipeline);
+}
+
+} // namespace frc