RawCam Class Reference
Forwards images from camera over wireless. More...
#include <RawCam.h>
Detailed Description
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, RawCam will add a few fields at the beginning of each packet to assist in processing the image stream.
I emphasize: beginning of each Vision packet, before the FilterBankGenerator header.
- <
string:"TekkotsuImage"> - <
Config::vision_config::encoding_t: rawcam.encoding> (expect single or multiple channels, 0 means color (3 channels), 1 means intensity (1 channel)) - <
Config::vision_config::compression_t: rawcam.compression> (0==none, 1==jpeg, 2==rle) - <
unsignedint:width> (this is the width of the largest channel - note different channels can be sent at different resolutions! Provides cheap "compression" of chromaticity channels) - <
unsignedint:height> (similarly, height of largest channel) - <
unsignedint:timestamp> (time image was taken, milliseconds since boot) - <
unsignedint:framenumber> (incremented for each frame, so we can tell if/when we drop one)
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.
- <
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.
Definition at line 41 of file RawCam.h.
Public Member Functions | |
| RawCam () | |
| constructor | |
| ~RawCam () | |
| 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 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) | |
Static Public Attributes | |
| static const unsigned int | TCP_WIRELESS_BUFFER_SIZE = 901*1024 |
| 900KB for max of full-color 640x480 + 1KB for header | |
| static const unsigned int | UDP_WIRELESS_BUFFER_SIZE = 64*1024 |
| 64KB is the max udp packet size | |
Protected Member Functions | |
| void | closeServer () |
| tear down the server socket (visRaw) | |
| void | setupServer () |
| setup the server socket (visRaw) | |
| void | drawShapesIntoBuffer (const FilterBankEvent &fbke) |
| draw contents of drawShapes vector into camera buffer | |
| bool | openPacket (FilterBankGenerator &fbkgen, unsigned int time, unsigned int layer) |
| opens a new packet, writes header info; returns true if open, false if otherwise open (check cur==NULL for error) | |
| 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 | |
| bool | sendCloseConnectionPacket () |
| sends a packet signaling the server is closing the connection (good for UDP connections) | |
Static Protected Member Functions | |
| static int | networkCallback (char *buf, int bytes) |
| function for network data to be sent to -- forwards to theOne's receiveData() | |
Protected Attributes | |
| 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 | |
Static Protected Attributes | |
| static RawCam * | theOne = NULL |
Private Member Functions | |
| RawCam (const RawCam &) | |
| don't call | |
| RawCam & | operator= (const RawCam &) |
| don't call | |
Constructor & Destructor Documentation
| RawCam::RawCam | ( | const RawCam & | ) | [private] |
don't call
Member Function Documentation
| void RawCam::closePacket | ( | ) | [protected] |
closes and sends a packet, does nothing if no packet open
Definition at line 514 of file RawCam.cc.
Referenced by doEvent(), writeColor(), and writeSingleChannel().
| void RawCam::closeServer | ( | ) | [protected] |
| void RawCam::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.
| void RawCam::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.
| void RawCam::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.
| void RawCam::drawShapesIntoBuffer | ( | const FilterBankEvent & | fbke | ) | [protected] |
| static std::string RawCam::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 64 of file RawCam.h.
Referenced by getDescription().
| virtual std::string RawCam::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.
| unsigned int RawCam::getSourceLayer | ( | unsigned int | chan, | |
| unsigned int | numLayers | |||
| ) | [static] |
returns the layer which will be used out of the source, based on current config settings (i.e. compression, skip, etc)
Definition at line 123 of file RawCam.cc.
Referenced by getSourceULayer(), getSourceVLayer(), and getSourceYLayer().
| unsigned int RawCam::getSourceULayer | ( | unsigned int | numLayers | ) | [static] |
| unsigned int RawCam::getSourceVLayer | ( | unsigned int | numLayers | ) | [static] |
| unsigned int RawCam::getSourceYLayer | ( | unsigned int | numLayers | ) | [static] |
| static int RawCam::networkCallback | ( | char * | buf, | |
| int | bytes | |||
| ) | [static, protected] |
function for network data to be sent to -- forwards to theOne's receiveData()
Definition at line 79 of file RawCam.h.
Referenced by setupServer().
| bool RawCam::openPacket | ( | FilterBankGenerator & | fbkgen, | |
| unsigned int | time, | |||
| unsigned int | layer | |||
| ) | [protected] |
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 RawCam for the protocol documentation
Definition at line 370 of file RawCam.cc.
Referenced by writeColor(), and writeSingleChannel().
| bool RawCam::sendCloseConnectionPacket | ( | ) | [protected] |
sends a packet signaling the server is closing the connection (good for UDP connections)
Definition at line 523 of file RawCam.cc.
Referenced by closeServer().
| void RawCam::setupServer | ( | ) | [protected] |
| bool RawCam::writeColor | ( | const FilterBankEvent & | fbke | ) | [protected] |
| bool RawCam::writeSingleChannel | ( | const FilterBankEvent & | fbke | ) | [protected] |
Member Data Documentation
unsigned int RawCam::avail [protected] |
the number of bytes remaining in the buffer
Definition at line 99 of file RawCam.h.
Referenced by closePacket(), openPacket(), writeColor(), and writeSingleChannel().
char* RawCam::cur [protected] |
current location within that buffer
Definition at line 98 of file RawCam.h.
Referenced by closePacket(), doEvent(), openPacket(), writeColor(), and writeSingleChannel().
unsigned int RawCam::lastProcessedTime [protected] |
the time that the last event was processed
Reimplemented from CameraStreamBehavior.
Definition at line 101 of file RawCam.h.
Referenced by closePacket(), and doEvent().
unsigned int RawCam::max_buf [protected] |
the buffer size requested from Wireless when the socket was allocated
Definition at line 100 of file RawCam.h.
Referenced by openPacket(), and setupServer().
char* RawCam::packet [protected] |
point to the current buffer being prepared to be sent
Definition at line 97 of file RawCam.h.
Referenced by closePacket(), doEvent(), and openPacket().
const unsigned int RawCam::TCP_WIRELESS_BUFFER_SIZE = 901*1024 [static] |
900KB for max of full-color 640x480 + 1KB for header
Definition at line 54 of file RawCam.h.
Referenced by setupServer().
RawCam * RawCam::theOne = NULL [static, protected] |
const unsigned int RawCam::UDP_WIRELESS_BUFFER_SIZE = 64*1024 [static] |
64KB is the max udp packet size
Definition at line 56 of file RawCam.h.
Referenced by setupServer().
Socket* RawCam::visRaw [protected] |
socket for sending the image stream
Definition at line 96 of file RawCam.h.
Referenced by closePacket(), closeServer(), doEvent(), openPacket(), sendCloseConnectionPacket(), and setupServer().
The documentation for this class was generated from the following files:
