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SegCamBehavior.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_SegCamBehavior_h_ #define INCLUDED_SegCamBehavior_h_ #include "CameraStreamBehavior.h" #include "Shared/Config.h" class Socket; class FilterBankGenerator; class FilterBankEvent; //! Forwards segmented 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 SegmentedColorGenerator or RLEGenerator) * * However, SegCamBehavior 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>: Config::vision_config::ENCODE_SINGLE_CHANNEL> <i>(always just sends a single channel)</i> * - <<tt>Config::vision_config::compression_t</tt>: Config::vision_config::COMPRESS_RLE> <i>(This is misleading - may actually be uncompressed, but this signals it's a segmented color image)</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, SegCamBehavior 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 * RawCamBehavior as well - the same code can parse either stream. * * However, one odd bit - since the RLEGenerator doesn't save the color * information itself, SegCamBehavior will do it instead. So, if * SegCamBehavior is using RLE compression, it will tack a footer at * the end of the packet: (from SegmentedColorGenerator::encodeColors()) * - <@c unsigned @c int: num_cols> <i>(number of different colors available)</i> * - for each of num_col: * - <@c char: red> <i>red color to use for display of this index</i> * - <@c char: green> <i>green color to use for display of this index</i> * - <@c char: blue> <i>blue color to use for display of this index</i> * * You can tell whether to expect the color footer by the creator string * that follows the SegCamBehavior header. (The compression field listed * is considering segmented color itself a type of compression, whether * or not it's RLE encoded, so you can't use that to tell whether the * data is RLE encoded until you get to the data section.) * * 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 SegCamBehavior : public CameraStreamBehavior { public: //! constructor SegCamBehavior(); //! destructor ~SegCamBehavior() { theOne=NULL; } static const unsigned int TCP_WIRELESS_BUFFER_SIZE=85000; //!< 85000 bytes for use up to 416x320 pixels / 8 min expected runs * 5 bytes per run + some padding 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.segcam_port); tmp[19]='\0'; return std::string("Forwards segmented images from camera over port ")+tmp; } virtual std::string getDescription() const { return getClassDescription(); } protected: static SegCamBehavior* theOne; //!< global instance of SegCamBehavior 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 (#visRLE) void setupServer(); //!<setup the server socket (#visRLE ) //! 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 SegCamBehavior for the protocol documentation */ bool openPacket(FilterBankGenerator& fbkgen, unsigned int time, unsigned int layer); bool writeRLE(const FilterBankEvent& fbke); //!< writes a color image bool writeSeg(const FilterBankEvent& fbke); //!< writes a color image 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 * visRLE; //!< socket to send image stream over char * packet; //!< buffer being filled out to be sent char * cur; //!< current location in #packet unsigned int avail; //!< number of bytes remaining in #packet 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: SegCamBehavior(const SegCamBehavior&); //!< don't call SegCamBehavior& operator=(const SegCamBehavior&); //!< don't call }; /*! @file * @brief Describes SegCamBehavior, which forwards segmented images from camera over wireless * @author ejt (Creator) * * $Author: ejt $ * $Name: tekkotsu-3_0 $ * $Revision: 1.13 $ * $State: Exp $ * $Date: 2006/09/16 20:11:50 $ */ #endif

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