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RawCamBehavior.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_RawCamBehavior_h_ #define INCLUDED_RawCamBehavior_h_ #include "CameraStreamBehavior.h" #include "Shared/Config.h" class Socket; class FilterBankGenerator; class FilterBankEvent; //! Forwards images from camera over wireless /*! The format used for serialization is basically defined by the * subclass of FilterBankGenerator being used. I suggest looking at * that classes's documentation to determine the format used. (Generally * either RawCameraGenerator or JPEGGenerator) * * However, RawCamBehavior will add a few fields at the beginning of * each packet to assist in processing the image stream. * * I emphasize: <i>beginning</i> of each Vision packet, <i>before</i> the FilterBankGenerator header. * - <@c string:"TekkotsuImage"> * - <<tt>Config::vision_config::encoding_t</tt>: rawcam_encoding> <i>(expect single or multiple channels, 0 means color (3 channels), 1 means intensity (1 channel))</i> * - <<tt>Config::vision_config::compression_t</tt>: rawcam_compression> <i>(0==none, 1==jpeg, 2==rle)</i> * - <@c unsigned @c int: width> <i>(this is the width of the largest channel - note different channels can be sent at different resolutions! Provides cheap "compression" of chromaticity channels)</i> * - <@c unsigned @c int: height> <i>(similarly, height of largest channel)</i> * - <@c unsigned @c int: timestamp> <i>(time image was taken, milliseconds since boot)</i> * - <@c unsigned @c int: framenumber> <i>(incremented for each frame, so we can tell if/when we drop one)</i> * * Alternatively, RawCameraGenerator may send a "Close Connection" packet * when the server is shutting down. This is to help UDP connections, which * otherwise wouldn't realize that they need to start trying to reconnect. * - <@c string:"CloseConnection"> * * This is exactly the same protocol that is followed by the SegCamBehavior as well - the same code can parse either stream. * * This is a binary protocol -- the fields listed indicate binary values * in the AIBO's byte order (little endian). Strings are encoded using * the LoadSave::encode(char*,unsigned int, unsigned int) method. */ class RawCamBehavior : public CameraStreamBehavior { public: //! constructor RawCamBehavior(); //! destructor ~RawCamBehavior() { theOne=NULL; } static const unsigned int TCP_WIRELESS_BUFFER_SIZE=200000; //!< 200000 bytes for use up to 416x320 + 2*208x160 (double res Y, full res UV on ERS-7) static const unsigned int UDP_WIRELESS_BUFFER_SIZE=64*1024; //!< 64KB is the max udp packet size virtual void DoStart(); virtual void DoStop(); virtual void processEvent(const EventBase& e); static std::string getClassDescription() { char tmp[20]; snprintf(tmp,20,"%d",config->vision.rawcam_port); tmp[19]='\0'; return std::string("Forwards images from camera over port ")+tmp; } virtual std::string getDescription() const { return getClassDescription(); } static unsigned int getSourceLayer(unsigned int chan, unsigned int numLayers); //!< returns the layer which will be used out of the source, based on current ::config settings (i.e. compression, skip, etc) static unsigned int getSourceYLayer(unsigned int numLayers); //!< returns the layer which will be used out of the source, based on current ::config settings (i.e. compression, skip, etc) static unsigned int getSourceULayer(unsigned int numLayers); //!< returns the layer which will be used out of the source, based on current ::config settings (i.e. compression, skip, etc) static unsigned int getSourceVLayer(unsigned int numLayers); //!< returns the layer which will be used out of the source, based on current ::config settings (i.e. compression, skip, etc) protected: static RawCamBehavior* theOne; //!< global instance of RawCamBehavior acting as server //! function for network data to be sent to -- forwards to #theOne's receiveData() static int networkCallback(char* buf, int bytes) { return theOne->receiveData(buf,bytes); } void closeServer(); //!<tear down the server socket (#visRaw) void setupServer(); //!<setup the server socket (#visRaw) //! opens a new packet, writes header info; returns true if open, false if otherwise open (check cur==NULL for error) /*! see the class documentation for RawCamBehavior for the protocol documentation */ bool openPacket(FilterBankGenerator& fbkgen, unsigned int time, unsigned int layer); bool writeColor(const FilterBankEvent& fbke); //!< writes a color image bool writeSingleChannel(const FilterBankEvent& fbke); //!< writes a single channel void closePacket(); //!< closes and sends a packet, does nothing if no packet open //! sends a packet signaling the server is closing the connection (good for UDP connections) bool sendCloseConnectionPacket(); Socket * visRaw; //!< socket for sending the image stream char * packet; //!< point to the current buffer being prepared to be sent char * cur; //!< current location within that buffer unsigned int avail; //!< the number of bytes remaining in the buffer unsigned int max_buf; //!< the buffer size requested from Wireless when the socket was allocated unsigned int lastProcessedTime; //!< the time that the last event was processed private: RawCamBehavior(const RawCamBehavior&); //!< don't call RawCamBehavior& operator=(const RawCamBehavior&); //!< don't call }; /*! @file * @brief Describes RawCamBehavior, which forwards images from camera over wireless * @author ejt (Creator) * * $Author: ejt $ * $Name: tekkotsu-3_0 $ * $Revision: 1.18 $ * $State: Exp $ * $Date: 2006/09/16 17:32:38 $ */ #endif

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