Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/vision/VisionPipeline.h b/wpilibc/athena/include/vision/VisionPipeline.h
new file mode 100644
index 0000000..bccd50b
--- /dev/null
+++ b/wpilibc/athena/include/vision/VisionPipeline.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 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/wpilibc/athena/include/vision/VisionRunner.h b/wpilibc/athena/include/vision/VisionRunner.h
new file mode 100644
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+++ b/wpilibc/athena/include/vision/VisionRunner.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 <functional>
+#include <memory>
+
+#include "ErrorBase.h"
+#include "cscore.h"
+#include "vision/VisionPipeline.h"
+
+namespace frc {
+
+/**
+ * Non-template base class for VisionRunner.
+ */
+class VisionRunnerBase : public ErrorBase {
+ public:
+ explicit VisionRunnerBase(cs::VideoSource videoSource);
+ ~VisionRunnerBase() override;
+
+ VisionRunnerBase(const VisionRunnerBase&) = delete;
+ VisionRunnerBase& operator=(const VisionRunnerBase&) = delete;
+
+ void RunOnce();
+
+ void RunForever();
+
+ protected:
+ virtual void DoProcess(cv::Mat& image) = 0;
+
+ private:
+ std::unique_ptr<cv::Mat> m_image;
+ cs::CvSink m_cvSink;
+};
+
+/**
+ * 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/wpilibc/athena/include/vision/VisionRunner.inc b/wpilibc/athena/include/vision/VisionRunner.inc
new file mode 100644
index 0000000..991c898
--- /dev/null
+++ b/wpilibc/athena/include/vision/VisionRunner.inc
@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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