Test out cscore

robotdotnet · Feb 8, 2024 · 6671471 · 6671471
1 parent 116fcf7
commit 6671471
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Showing 3 changed files with 75 additions and 0 deletions.
diff --git a/dev/desktopDev/Program.cs b/dev/desktopDev/Program.cs
@@ -1,23 +1,89 @@
 using System;
+using System.Runtime.InteropServices;
 using System.Text.Json;
+using CsCore;
+using CsCore.Raw;
 using NetworkTables;
 using UnitsNet.NumberExtensions.NumberToAngle;
 using WPIMath.Geometry;
+using WPIUtil;
+using WPIUtil.Natives;
 using WPIUtil.Serialization.Struct;
 
 namespace DesktopDev;
 
 class Program
 {
+
+
     static void Main(string[] args)
     {
         Rotation2d rot = new(5.Radians());
         string serialized = JsonSerializer.Serialize(rot);
         Console.WriteLine(serialized);
 
+        NativeLibrary.SetDllImportResolver(typeof(MJpegServer).Assembly, (name, assembly, searchpath) =>
+        {
+            if (name != "cscore")
+            {
+                throw new InvalidOperationException();
+            }
+            Console.WriteLine(searchpath);
+            return NativeLibrary.Load(@"C:\Users\thadh\Documents\GitHub\thadhouse\allwpilib\myRobot\build\install\myRobotCpp\windowsx86-64\lib\cscored.dll");
+        });
+
+        NativeLibrary.SetDllImportResolver(typeof(NativeRawFrame).Assembly, (name, assembly, searchpath) =>
+        {
+            if (name != "wpiutil")
+            {
+                throw new InvalidOperationException();
+            }
+            return NativeLibrary.Load(@"C:\Users\thadh\Documents\GitHub\thadhouse\allwpilib\myRobot\build\install\myRobotCpp\windowsx86-64\lib\wpiutild.dll");
+        });
+
         Rotation2d r = JsonSerializer.Deserialize<Rotation2d>(serialized);
         Console.WriteLine(r.Angle.Radians);
 
+        UsbCamera camera = new UsbCamera("Camera", 0)
+        {
+            ConnectionStrategy = ConnectionStrategy.ConnectionKeepOpen
+        };
+        MJpegServer server = new MJpegServer("Server", 1181)
+        {
+            Source = camera
+        };
+
+        RawSink sink = new RawSink("Sink") {
+            Source = camera
+        };
+
+        RawSource source = new RawSource("Source", new VideoMode
+        {
+            Fps = 30,
+            Width = 640,
+            Height = 480,
+            PixelFormat = WPIUtil.PixelFormat.Yuyv
+        })
+        {
+            ConnectionStrategy = ConnectionStrategy.ConnectionKeepOpen
+        };
+
+        MJpegServer sinkServer = new MJpegServer("SinkServer", 1182) {
+            Source = source
+        };
+
+        RawFrameReader reader = new RawFrameReader();
+
+        while (true) {
+            long ts = sink.GrabFrame(reader);
+            if (ts <= 0) {
+                continue;
+            }
+
+            source.PutFrame(reader.ToWriter());
+        }
+
+
         // StructArrayTopic<TrackedTag> n = null!;
         // var subscriber = n.Subscribe([], PubSubOptions.None);
         // TrackedTag[] tags = subscriber.Get();

diff --git a/dev/desktopDev/Properties/launchSettings.json b/dev/desktopDev/Properties/launchSettings.json
@@ -0,0 +1,8 @@
+{
+  "profiles": {
+    "desktopDev": {
+      "commandName": "Project",
+      "nativeDebugging": true
+    }
+  }
+}
diff --git a/dev/desktopDev/desktopDev.csproj b/dev/desktopDev/desktopDev.csproj
@@ -8,6 +8,7 @@
 
 
   <ItemGroup>
+    <ProjectReference Include="..\..\src\cscore\cscore.csproj" />
     <ProjectReference Include="..\..\src\hal\hal.csproj" />
     <ProjectReference Include="..\..\src\ntcore\ntcore.csproj" />
     <ProjectReference Include="..\..\src\wpinet\wpinet.csproj" />