DepthCam.h

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#ifndef INCLUDED_DepthCam_h_
#define INCLUDED_DepthCam_h_

#include "CameraStreamBehavior.h"
#include "Shared/Config.h"

class Socket;
class FilterBankGenerator;
class FilterBankEvent;

class DepthCam : public CameraStreamBehavior {
public:
  //! constructor
  DepthCam();
  
  //! destructor
  ~DepthCam() { theOne=NULL; }

#ifdef PLATFORM_APERIOS
  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)
#else
  static const unsigned int TCP_WIRELESS_BUFFER_SIZE=640*480*2 + 1024; //!< size for full 640x480 depth map + 1KB for header
#endif
  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 doEvent();

  static std::string getClassDescription() {
    char tmp[20];
    snprintf(tmp,20,"%d",*config->vision.depthcam.port); tmp[19]='\0';
    return std::string("Forwards images from camera over port ")+tmp;
  }
  virtual std::string getDescription() const { return getClassDescription(); }

 protected:
  static DepthCam* theOne;

  static int networkCallback(char* buf, int bytes) { return theOne->receiveData(buf,bytes); }

  void setupServer(); //!<setup the server socket (#visDepth)
  void closeServer(); //!<tear down the server socket (#visDepth)

  bool openPacket(FilterBankGenerator& fbkgen, unsigned int time, unsigned int layer);
  bool writeDepth(const FilterBankEvent& fbke);

        void closePacket(); //!< closes and sends a packet, does nothing if no packet open

  bool sendCloseConnectionPacket();

  Socket* visDepth;
  char* packet;
  char* cur;
  unsigned int avail;
  unsigned int max_buf;
  unsigned int lastProcessedTime;

 private:
  DepthCam(const DepthCam&);
  DepthCam& operator=(const DepthCam&);
};
/*! @file
 * @brief Describes RawCam, which forwards images from camera over wireless
 * @author ejt (Creator)
 */

#endif