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/VisionRunner.inc b/wpilibc/athena/include/vision/VisionRunner.inc
new file mode 100644
index 0000000..991c898
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+++ 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