ImageStreamDriver.h

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//-*-c++-*-
#ifndef INCLUDED_ImageStreamDriver_h_
#define INCLUDED_ImageStreamDriver_h_

#include "DataStreamDriver.h"
#include "Shared/ProjectInterface.h"

//! description of ImageStreamDriver
class ImageStreamDriver : public DataStreamDriver {
public:
  explicit ImageStreamDriver(const std::string& name)
    : DeviceDriver(autoRegisterDriver,name), DataStreamDriver(autoRegisterDriver,name), format(FORMAT_JPEG,formatNames), payloadSize(0), sid(ProjectInterface::visRawCameraSID)
  {
    addEntry("Format",format,"The type of format to expect from the comm port.\n"
         "'YUV' expects interleaved components 'CameraResolutionX' wide and 'CameraResolutionY' high\n"
         "(defined in target's RobotInfo namespace)");
  }

  virtual std::string getClassName() const { return autoRegisterDriver; }

  virtual void getImageSources(std::map<std::string,DataSource*>& sources) {
    sources.clear();
    sources["Camera"]=this;
  }
  
  virtual void plistValueChanged(const plist::PrimitiveBase& pl);
  
  //! enumerates the available formats for input to the driver
  enum format_t {
    FORMAT_YUV=0, //!< raw interleaved YUV data, @c CameraResolutionX wide by @c CameraResolutionY high (defined in target's RobotInfo namespace)
    FORMAT_PNG, //!< PNG compressed image
    FORMAT_JPEG, //!< JPEG compressed iamge
    FORMAT_TEKKOTSU //!< the format used by the Tekkotsu streaming video
  };
  //! number of entries in format_t
  static const size_t NUM_FORMATS = 4;
  //! human-readable names for the supported formats, see format_t
  static const char * formatNames[NUM_FORMATS+1];
  
  //! The type of format to expect from the comm port.
  /*! 'YUV' expects interleaved components 'CameraResolutionX' wide and 'CameraResolutionY' high (defined in target's RobotInfo namespace) */
  plist::NamedEnumeration<format_t> format;

protected:
  virtual bool readData(std::istream& is);
  RCRegion * readImage(std::istream& is);
  static void copyImage(char * buf, unsigned int width, unsigned int height, unsigned int channels, const char * chan, unsigned int lwidth, unsigned int lheight, unsigned int lchan);
  
  virtual void connect(CommPort* comm);
  virtual void disconnect(CommPort* comm);

  void setSID(unsigned short imageSID) {this->sid = imageSID;}
  
  size_t payloadSize; //!< caches size of last decompressed (yuv) image to assume next image will be the same size
  unsigned short sid; // the source id of the stream

private:
  //! holds the class name, set via registration with the DeviceDriver registry
  static const std::string autoRegisterDriver;
  ImageStreamDriver(const ImageStreamDriver&); //!< no call
  ImageStreamDriver operator=(const ImageStreamDriver&); //!< no call
};

/*! @file
 * @brief 
 * @author Ethan Tira-Thompson (ejt) (Creator)
 */

#endif