DepthCam Class Reference

#include <DepthCam.h>

Inheritance diagram for DepthCam:

Detailed Description

Definition at line 11 of file DepthCam.h.

Public Member Functions
	DepthCam ()
	constructor
	~DepthCam ()
	destructor
virtual void	doStart ()
	Delegate function for subclasses to be notified when the behavior starts up.
virtual void	doStop ()
	Delegate function for subclasses to be notified when the behavior starts up.
virtual void	doEvent ()
	Delegate function for event processing, the event itself is pointed to (only for the duration of the doEvent() call!) by event.
virtual std::string	getDescription () const
	Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).
Static Public Member Functions
static std::string	getClassDescription ()
	Gives a short description of what this class of behaviors does... you should override this (but don't have to).
Static Public Attributes
static const unsigned int	TCP_WIRELESS_BUFFER_SIZE = 6404802 + 1024
	size for full 640x480 depth map + 1KB for header
static const unsigned int	UDP_WIRELESS_BUFFER_SIZE = 64*1024
	64KB is the max udp packet size
Protected Member Functions
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 ()
Static Protected Member Functions
static int	networkCallback (char *buf, int bytes)
Protected Attributes
Socket *	visDepth
char *	packet
char *	cur
unsigned int	avail
unsigned int	max_buf
unsigned int	lastProcessedTime
	timestamp of last sensor update sent
Static Protected Attributes
static DepthCam *	theOne = NULL
Private Member Functions
	DepthCam (const DepthCam &)
DepthCam &	operator= (const DepthCam &)

Constructor & Destructor Documentation

DepthCam::DepthCam ( )

constructor

Definition at line 18 of file DepthCam.cc.

DepthCam::~DepthCam ( )

destructor

Definition at line 17 of file DepthCam.h.

DepthCam::DepthCam ( const DepthCam & ) [private]

Member Function Documentation

void DepthCam::closePacket ( ) [protected]

closes and sends a packet, does nothing if no packet open

Definition at line 212 of file DepthCam.cc.

Referenced by doEvent(), and writeDepth().

void DepthCam::closeServer ( ) [protected]

tear down the server socket (visDepth)

Definition at line 87 of file DepthCam.cc.

Referenced by doEvent(), and doStop().

void DepthCam::doEvent ( ) [virtual]

Delegate function for event processing, the event itself is pointed to (only for the duration of the doEvent() call!) by event.

Default implementation watches for 'private' text message events (those forwarded by a BehaviorSwitchControl from ControllerGUI input) and will publically rebroadcast them. The idea is that your own processEvent gets first dibs, but if the behavior doesn't handle the text message, it will be handed off for others.

Reimplemented from CameraStreamBehavior.

Definition at line 43 of file DepthCam.cc.

void DepthCam::doStart ( ) [virtual]

Delegate function for subclasses to be notified when the behavior starts up.

Should be overridden by subclasses to subscribe to events, install motion commands, etc.

doStart() is basically a hook to allow subclasses to jump in and do some customization of behavior parameters while the behavior is starting. If you are writing a behavior class and do not expect further derivation, just override doStart() yourself. However, if you do expect further derivation of your class, consider using preStart() or postStart() instead, and leave doStart() for the 'leaf' classes.

Reimplemented from BehaviorBase.

Definition at line 26 of file DepthCam.cc.

void DepthCam::doStop ( ) [virtual]

Delegate function for subclasses to be notified when the behavior starts up.

May be overridden to cleanup when the behavior is shutting down. However events will automatically be unsubscribed, and by using addMotion(), motions will automatically be removed by stop(), so you may not need any cleanup.

Reimplemented from BehaviorBase.

Definition at line 36 of file DepthCam.cc.

static std::string DepthCam::getClassDescription ( ) [static]

Gives a short description of what this class of behaviors does... you should override this (but don't have to).

If you do override this, also consider overriding getDescription() to return it

Reimplemented from CameraStreamBehavior.

Definition at line 32 of file DepthCam.h.

Referenced by getDescription().

virtual std::string DepthCam::getDescription ( ) const [virtual]

Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).

By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)

This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.

Reimplemented from CameraStreamBehavior.

Definition at line 37 of file DepthCam.h.