ImageStreamDriver Class Reference

description of ImageStreamDriver More...

#include <ImageStreamDriver.h>

Inheritance diagram for ImageStreamDriver:

[legend]

---

Detailed Description

description of ImageStreamDriver

Definition at line 9 of file ImageStreamDriver.h.

List of all members.

Public Types
enum	format_t { FORMAT_YUV = 0, FORMAT_PNG, FORMAT_JPEG, FORMAT_TEKKOTSU }
	enumerates the available formats for input to the driver More...
Public Member Functions
	ImageStreamDriver (const std::string &name)
virtual std::string	getClassName () const
	Returns the name of the class (aka its type).
virtual void	getImageSources (std::map< std::string, DataSource * > &sources)
virtual void	plistValueChanged (const plist::PrimitiveBase &pl)
Public Attributes
plist::NamedEnumeration< format_t >	format
	The type of format to expect from the comm port.
Static Public Attributes
static const size_t	NUM_FORMATS = 4
	number of entries in format_t
static const char *	formatNames [NUM_FORMATS+1] = { "yuv", "png", "jpeg", "tekkotsu", NULL }
	human-readable names for the supported formats, see format_t
Protected Member Functions
virtual bool	readData (std::istream &is)
	Called when data should be read from the specified data stream and then provided to the framework.
RCRegion *	readImage (std::istream &is)
virtual void	connect (CommPort *comm)
	called when connection initialization is required (opens comm port, etc.)
virtual void	disconnect (CommPort *comm)
	called when connection destruction is required (closes comm port, etc.)
void	setSID (unsigned short imageSID)
Static Protected Member Functions
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)
Protected Attributes
size_t	payloadSize
	caches size of last decompressed (yuv) image to assume next image will be the same size
unsigned short	sid
Private Member Functions
	ImageStreamDriver (const ImageStreamDriver &)
	no call
ImageStreamDriver	operator= (const ImageStreamDriver &)
	no call
Static Private Attributes
static const std::string	autoRegisterDriver = DeviceDriver::getRegistry().registerType<ImageStreamDriver>("ImageStream")
	holds the class name, set via registration with the DeviceDriver registry

---

Member Enumeration Documentation

enum format_t

enumerates the available formats for input to the driver

Enumerator:

FORMAT_YUV	raw interleaved YUV data, CameraResolutionX wide by 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

Definition at line 29 of file ImageStreamDriver.h.

---

Constructor & Destructor Documentation

ImageStreamDriver

(

const std::string &

name

)

[explicit]

Definition at line 11 of file ImageStreamDriver.h.

ImageStreamDriver

(

const ImageStreamDriver &

)

[private]

no call

---

Member Function Documentation

void connect

(

CommPort *

comm

)

[protected, virtual]

called when connection initialization is required (opens comm port, etc.)

Reimplemented from DataStreamDriver.

Definition at line 410 of file ImageStreamDriver.cc.

Referenced by plistValueChanged().

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
	)			[static, protected]

Definition at line 362 of file ImageStreamDriver.cc.

Referenced by readImage().

void disconnect

(

CommPort *

comm

)

[protected, virtual]

called when connection destruction is required (closes comm port, etc.)

Reimplemented from DataStreamDriver.

Definition at line 415 of file ImageStreamDriver.cc.

Referenced by plistValueChanged().

virtual std::string getClassName

(

)

const [virtual]

Returns the name of the class (aka its type).

Suggested implementation is to declare a static string member, set it to the result of calling the registry's registerType, and then return that member here

Implements DeviceDriver.

Definition at line 19 of file ImageStreamDriver.h.

virtual void getImageSources

(

std::map< std::string, DataSource * > &

sources

)

[virtual]

Reimplemented from DeviceDriver.

Definition at line 21 of file ImageStreamDriver.h.

ImageStreamDriver operator=

(

const ImageStreamDriver &

)

[private]

no call

void plistValueChanged

(

const plist::PrimitiveBase &

pl

)

[virtual]

Reimplemented from DataStreamDriver.

Reimplemented in ImageSubscription, DepthSubscription, and Subscription< ImageStreamDriver >.

Definition at line 21 of file ImageStreamDriver.cc.

bool readData

(

std::istream &

is

)

[protected, virtual]

Called when data should be read from the specified data stream and then provided to the framework.

If paceInput is set, your implementation should use readsome() to skim through to the last available data packet, and provide only that data to the framework

Implements DataStreamDriver.

Definition at line 33 of file ImageStreamDriver.cc.

RCRegion * readImage

(

std::istream &

is

)

[protected]

Definition at line 63 of file ImageStreamDriver.cc.

Referenced by readData().

void setSID

(

unsigned short

imageSID

)

[protected]

Definition at line 52 of file ImageStreamDriver.h.

Referenced by DepthSubscription::DepthSubscription().

---

Member Data Documentation

const std::string autoRegisterDriver = DeviceDriver::getRegistry().registerType<ImageStreamDriver>("ImageStream") [static, private]

holds the class name, set via registration with the DeviceDriver registry

Reimplemented from DataStreamDriver.

Definition at line 59 of file ImageStreamDriver.h.

Referenced by getClassName().

plist::NamedEnumeration<format_t> format

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)

Definition at line 42 of file ImageStreamDriver.h.

Referenced by connect(), DepthSubscription::DepthSubscription(), disconnect(), ImageStreamDriver(), ImageSubscription::ImageSubscription(), ImageSubscription::plistValueChanged(), DepthSubscription::plistValueChanged(), plistValueChanged(), and readImage().

const char * formatNames = { "yuv", "png", "jpeg", "tekkotsu", NULL } [static]

human-readable names for the supported formats, see format_t

Definition at line 38 of file ImageStreamDriver.h.

const size_t NUM_FORMATS = 4 [static]

number of entries in format_t

Definition at line 36 of file ImageStreamDriver.h.

size_t payloadSize [protected]

caches size of last decompressed (yuv) image to assume next image will be the same size

Definition at line 54 of file ImageStreamDriver.h.

Referenced by readImage().

unsigned short sid [protected]

Definition at line 55 of file ImageStreamDriver.h.

Referenced by readImage(), and setSID().

---

The documentation for this class was generated from the following files:

• ImageStreamDriver.h
• ImageStreamDriver.cc