RegionCam.h

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

#include "Behaviors/BehaviorBase.h"
#include "Shared/Config.h"

class Socket;
class FilterBankGenerator;
class FilterBankEvent;

//! Forwards segmented images from camera over wireless

class RegionCam : public BehaviorBase {
public:
  //! constructor
  RegionCam();

  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 doEvent();

  static std::string getClassDescription() {
    char tmp[20];
    sprintf(tmp,"%d",*config->vision.segcam.port);
    return std::string("Forwards regions calculated out of images from camera over port ")+tmp;
  }
  virtual std::string getDescription() const { return getClassDescription(); }
  
protected:
  void closeServer(); //!<tear down the server socket (#visRegion)
  void setupServer(); //!<setup the server socket (#visRegion)
  
  //! 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 RegionCam for the protocol documentation */
  bool openPacket(FilterBankGenerator& fbkgen, unsigned int time, unsigned int layer); 
  bool writeRegions(const FilterBankEvent& fbke); //!< writes the region information
  void closePacket(); //!< closes and sends a packet, does nothing if no packet open

  Socket * visRegion; //!< 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

private:
  RegionCam(const RegionCam&); //!< don't call
  RegionCam& operator=(const RegionCam&); //!< don't call
};

/*! @file
 * @brief Implements RegionCam, which forwards the regions from RegionGenerator over wireless
 * @author harm & niels (Creators)
 */

#endif