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VisionSerializer.cc

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00001 /*=========================================================================
00002     CMPack'02 Source Code Release for OPEN-R SDK v1.0
00003     Copyright (C) 2002 Multirobot Lab [Project Head: Manuela Veloso]
00004     School of Computer Science, Carnegie Mellon University
00005   -------------------------------------------------------------------------
00006     This software is distributed under the GNU General Public License,
00007     version 2.  If you do not have a copy of this licence, visit
00008     www.gnu.org, or write: Free Software Foundation, 59 Temple Place,
00009     Suite 330 Boston, MA 02111-1307 USA.  This program is distributed
00010     in the hope that it will be useful, but WITHOUT ANY WARRANTY,
00011     including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
00012   -------------------------------------------------------------------------
00013     Additionally licensed to Sony Corporation under the following terms:
00014 
00015     This software is provided by the copyright holders AS IS and any
00016     express or implied warranties, including, but not limited to, the
00017     implied warranties of merchantability and fitness for a particular
00018     purpose are disclaimed.  In no event shall authors be liable for
00019     any direct, indirect, incidental, special, exemplary, or consequential
00020     damages (including, but not limited to, procurement of substitute
00021     goods or services; loss of use, data, or profits; or business
00022     interruption) however caused and on any theory of liability, whether
00023     in contract, strict liability, or tort (including negligence or
00024     otherwise) arising in any way out of the use of this software, even if
00025     advised of the possibility of such damage.
00026   =========================================================================
00027 */
00028 
00029 #include "Vision.h"
00030 #include "VisionSerializer.h"
00031 #include "Wireless/Wireless.h"
00032 #include "Shared/Config.h"
00033 #include "Shared/get_time.h"
00034 
00035 VisionSerializer::VisionSerializer() : visRaw(NULL), visRLE(NULL) {
00036   visRaw=wireless->socket(SocketNS::SOCK_STREAM, 1024, 88*72*3);
00037   visRLE=wireless->socket(SocketNS::SOCK_STREAM, 1024, 22*144*3*2);
00038   wireless->listen(visRaw, config->vision.raw_port);
00039   wireless->listen(visRLE, config->vision.rle_port);
00040 }
00041 
00042 void
00043 VisionSerializer::serialize() {
00044 //  static int time=get_time();
00045 //  static int frame=0;
00046   char *buf=(char*)visRaw->getWriteBuffer(22*144*3);
00047   if (buf) {
00048     encodeVisionRaw((char *)buf,vision->img,2); 
00049     //visRaw->write(174*144*3);
00050     visRaw->write(88*72*3);
00051 /*    if (get_time()-time>1000) {
00052       time=get_time();
00053       cout << frame << "hz " << time << endl;
00054       frame=0;
00055     } else {
00056       frame++;
00057     }*/
00058   }
00059 
00060   buf=(char*)visRLE->getWriteBuffer(22*144*3*2);
00061   if (buf) {
00062     encodeVisionRLE((char *)buf, vision->num_runs, vision->rmap);
00063     visRLE->write(4+vision->num_runs*3);
00064   }
00065   
00066 }
00067 
00068 char *
00069 VisionSerializer::encodeVisionRun(char *buf, run *rn) {
00070   buf[0]=(uchar)rn->color;
00071   buf[1]=(uchar)rn->x;
00072   buf[2]=(uchar)rn->width;
00073   return buf+3;
00074 }
00075 
00076 void
00077 VisionSerializer::encodeVisionRaw(char *buf,
00078                                   CMVision::image_yuv<const uchar> &img,
00079                                   int scale) {
00080   const uchar *row_y,*row_u,*row_v;
00081   int height, width;
00082   height = img.height;
00083   width  = img.width;
00084 
00085   for(int y=0; y<height; y+=scale) {
00086     row_y = img.buf_y + y*img.row_stride;
00087     row_u = img.buf_u + y*img.row_stride;
00088     row_v = img.buf_v + y*img.row_stride;
00089     for(int x=0; x<width; x+=scale) {
00090       *(buf  )=row_y[x];
00091       *(buf+1)=row_u[x];
00092       *(buf+2)=row_v[x];
00093       buf+=3;
00094     }
00095   }
00096 }
00097 
00098 void
00099 VisionSerializer::encodeVisionRLE(char *buf,int num_runs,run *runs) {
00100   encode(&buf,num_runs);
00101   for (; num_runs>0; num_runs--, runs++) {
00102     buf=encodeVisionRun(buf,runs);
00103   }
00104 };
00105 
00106 /*! @file
00107  * @brief Implements VisionSerializer, which encodes and transmits camera images
00108  * @author CMU RoboSoccer 2001-2002 (Creator)
00109  * @author alokl (Ported)
00110  * 
00111  * @verbinclude CMPack_license.txt
00112  *
00113  * $Author: ejt $
00114  * $Name: tekkotsu-1_4_1 $
00115  * $Revision: 1.5 $
00116  * $State: Exp $
00117  * $Date: 2003/06/12 23:41:41 $
00118  */

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