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/src/vision/VisionRunner.cpp b/wpilibc/athena/src/vision/VisionRunner.cpp
new file mode 100644
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+++ b/wpilibc/athena/src/vision/VisionRunner.cpp
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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. */
+/*----------------------------------------------------------------------------*/
+
+#include "vision/VisionRunner.h"
+
+#include "DriverStation.h"
+#include "RobotBase.h"
+#include "opencv2/core/mat.hpp"
+
+using namespace frc;
+
+/**
+ * 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
+ */
+VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource)
+ : m_image(std::make_unique<cv::Mat>()), m_cvSink("VisionRunner CvSink") {
+ m_cvSink.SetSource(videoSource);
+}
+
+// Located here and not in header due to cv::Mat forward declaration.
+VisionRunnerBase::~VisionRunnerBase() {}
+
+/**
+ * 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 VisionRunnerBase::RunOnce() {
+ if (std::this_thread::get_id() == RobotBase::GetThreadId()) {
+ wpi_setErrnoErrorWithContext(
+ "VisionRunner::RunOnce() cannot be called from the main robot thread");
+ return;
+ }
+ auto frameTime = m_cvSink.GrabFrame(*m_image);
+ if (frameTime == 0) {
+ auto error = m_cvSink.GetError();
+ DriverStation::ReportError(error);
+ } else {
+ DoProcess(*m_image);
+ }
+}
+
+/**
+ * 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.
+ *
+ * <p><strong>Do not call this method directly from the main
+ * thread.</strong></p>
+ */
+void VisionRunnerBase::RunForever() {
+ if (std::this_thread::get_id() == RobotBase::GetThreadId()) {
+ wpi_setErrnoErrorWithContext(
+ "VisionRunner::RunForever() cannot be called from the main robot "
+ "thread");
+ return;
+ }
+ while (true) {
+ RunOnce();
+ }
+}