Add default overrides to CvSink

cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java

@@ -23,6 +23,7 @@ public class VisionRunner<P extends VisionPipeline> {
   private final CvSink m_cvSink = new CvSink("VisionRunner CvSink");
   private final P m_pipeline;
   private final Mat m_image = new Mat();
+  private long m_lastFrameTime = 0;
   private final Listener<? super P> m_listener;
   private volatile boolean m_enabled = true;
 
@@ -81,7 +82,7 @@ public void runOnce() {
   }
 
   private void runOnceInternal() {
-    long frameTime = m_cvSink.grabFrame(m_image, 0);
+    long frameTime = m_cvSink.grabFrame(m_image, m_lastFrameTime);
     if (frameTime == 0) {
       // There was an error, report it
       String error = m_cvSink.getError();
@@ -90,6 +91,8 @@ private void runOnceInternal() {
       // No errors, process the image
       m_pipeline.process(m_image);
       m_listener.copyPipelineOutputs(m_pipeline);
+
+      m_lastFrameTime = frameTime;
     }
   }
 

cscore/src/main/java/edu/wpi/first/cscore/CvSink.java

@@ -63,6 +63,17 @@ public CvSink(String name) {
     this(name, PixelFormat.kBGR);
   }
 
+  /**
+   * Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
+   * provided image will have the pixelFormat this class was constructed with.
+   *
+   * @param image Where to store the image.
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message)
+   */
+  public long grabFrame(Mat image) {
+    return grabFrame(image, 0.225, 0);
+  }
+
   /**
    * Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
    * provided image will have the pixelFormat this class was constructed with.
@@ -76,6 +87,21 @@ public long grabFrame(Mat image, long lastFrameTime) {
     return grabFrame(image, 0.225, lastFrameTime);
   }
 
+
+  /**
+   * Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
+   * provided image will have the pixelFormat this class was constructed with.
+   *
+   * @param image Where to store the image.
+   * @param timeout Retrieval timeout in seconds.
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
+   *     is in 1 us increments.
+   */
+  public long grabFrame(Mat image, double timeout) {
+    return grabFrame(image, timeout, 0);
+  }
+
+
   /**
    * Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
    * provided image will have the pixelFormat this class was constructed with.
@@ -138,6 +164,31 @@ public long grabFrameDirect(long lastFrameTime) {
     return grabFrameDirect(0.225, lastFrameTime);
   }
 
+  /**
+   * Wait for the next frame and store the image. Times out (returning 0) after 0.225 seconds. The
+   * provided image will have the pixelFormat this class was constructed with. Use getDirectMat() to
+   * grab the image.
+   *
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message)
+   */
+  public long grabFrameDirect() {
+    return grabFrameDirect(0.225, 0);
+  }
+
+  /**
+   * Wait for the next frame and store the image. Times out (returning 0) after timeout seconds. The
+   * provided image will have the pixelFormat this class was constructed with. Use getDirectMat() to
+   * grab the image.
+   *
+   * @param timeout Retrieval timeout in seconds.
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
+   *     is in 1 us increments.
+   */
+  @SuppressWarnings("PMD.CompareObjectsWithEquals")
+  public long grabFrameDirect(double timeout) {
+    return grabFrameDirect(timeout);
+  }
+
   /**
    * Wait for the next frame and store the image. Times out (returning 0) after timeout seconds. The
    * provided image will have the pixelFormat this class was constructed with. Use getDirectMat() to