RawSource.hpp

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <string_view>
 
#include "wpi/cs/ImageSource.hpp"
#include "wpi/cs/VideoMode.hpp"
#include "wpi/cs/cscore_raw.hpp"
#include "wpi/util/RawFrame.hpp"
 
namespace wpi::cs {
 
/**
 * A source for user code to provide video frames as raw bytes.
 *
 * This is a complex API, most cases should use CvSource.
 */
class RawSource : public ImageSource {
 public:
  RawSource() = default;
 
  /**
   * Create a raw frame source.
   *
   * @param name Source name (arbitrary unique identifier)
   * @param mode Video mode being generated
   */
  RawSource(std::string_view name, const VideoMode& mode) {
    m_handle = CreateRawSource(name, false, mode, &m_status);
  }
 
  /**
   * Create a raw frame source.
   *
   * @param name Source name (arbitrary unique identifier)
   * @param pixelFormat Pixel format
   * @param width width
   * @param height height
   * @param fps fps
   */
  RawSource(std::string_view name, VideoMode::PixelFormat pixelFormat,
            int width, int height, int fps) {
    m_handle = CreateRawSource(
        name, false, VideoMode{pixelFormat, width, height, fps}, &m_status);
  }
 
 protected:
  /**
   * Put a raw image and notify sinks.
   *
   * @param image raw frame image
   */
  void PutFrame(wpi::util::RawFrame& image) {
    m_status = 0;
    PutSourceFrame(m_handle, image, &m_status);
  }
};
 
}  // namespace wpi::cs