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SegCamBehavior.hGo to the documentation of this file.00001 //-*-c++-*- 00002 #ifndef INCLUDED_SegCamBehavior_h_ 00003 #define INCLUDED_SegCamBehavior_h_ 00004 00005 #include "Behaviors/BehaviorBase.h" 00006 #include "Shared/Config.h" 00007 00008 class Socket; 00009 class FilterBankGenerator; 00010 class FilterBankEvent; 00011 00012 //! Forwards segmented images from camera over wireless 00013 /*! The format used for serialization is basically defined by the 00014 * subclass of FilterBankGenerator being used. I suggest looking at 00015 * that classes's documentation to determine the format used. 00016 * 00017 * However, SegCamBehavior will add a few fields at the beginning of 00018 * each packet to assist in processing the image stream. 00019 * 00020 * I emphasize: <i>beginning</i> of each Vision packet, <i>before</i> the FilterBankGenerator header. 00021 * - <@c string:"TekkotsuImage"> 00022 * - <<tt>Config::vision_config::encoding_t</tt>: Config::vision_config::ENCODE_SINGLE_CHANNEL> <i>(always just sends a single channel)</i> 00023 * - <<tt>Config::vision_config::compression_t</tt>: Config::vision_config::COMPRESS_RLE> <i>(This is misleading - may actually be uncompressed, but this signals it's a segmented color image)</i> 00024 * - <@c unsigned @c int: width> <i>(this is the width of the largest channel - note different channels can be sent at different resolutions! Provides cheap "compression" of chromaticity channels)</i> 00025 * - <@c unsigned @c int: height> <i>(similarly, height of largest channel)</i> 00026 * - <@c unsigned @c int: timestamp> <i>(time image was taken, milliseconds since boot)</i> 00027 * - <@c unsigned @c int: framenumber> <i>(incremented for each frame, so we can tell if/when we drop one)</i> 00028 * 00029 * This is exactly the same protocol that is followed by the 00030 * RawCamBehavior as well - the same code can parse either stream. 00031 * 00032 * However, odd bit - since the RLEGenerator doesn't save the color 00033 * information itself, SegCamBehavior will do it instead. So, if 00034 * SegCamBehavior is using RLE compression, it will tack a footer at 00035 * the end of the packet: (from SegmentedColorGenerator::encodeColors()) 00036 * - <@c unsigned @c int: num_cols> <i>(number of different colors available)</i> 00037 * - for each of num_col: 00038 * - <@c char: red> <i>red color to use for display of this index</i> 00039 * - <@c char: green> <i>green color to use for display of this index</i> 00040 * - <@c char: blue> <i>blue color to use for display of this index</i> 00041 */ 00042 class SegCamBehavior : public BehaviorBase { 00043 public: 00044 //! constructor 00045 SegCamBehavior(); 00046 00047 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 00048 static const unsigned int UDP_WIRELESS_BUFFER_SIZE=64*1024; //!< 64KB is the max udp packet size 00049 00050 virtual void DoStart(); 00051 00052 virtual void DoStop(); 00053 00054 virtual void processEvent(const EventBase& e); 00055 00056 virtual std::string getName() const { return "SegCamServer"; } 00057 00058 static std::string getClassDescription() { 00059 char tmp[20]; 00060 sprintf(tmp,"%d",config->vision.rle_port); 00061 return std::string("Forwards segmented images from camera over port ")+tmp; 00062 } 00063 00064 protected: 00065 //! opens a new packet, writes header info; returns true if open, false if otherwise open (check cur==NULL for error) 00066 /*! see the class documentation for SegCamBehavior for the protocol documentation */ 00067 bool openPacket(FilterBankGenerator& fbkgen, unsigned int time, unsigned int layer); 00068 bool writeRLE(const FilterBankEvent& fbke); //!< writes a color image 00069 bool writeSeg(const FilterBankEvent& fbke); //!< writes a color image 00070 void closePacket(); //!< closes and sends a packet, does nothing if no packet open 00071 00072 Socket * visRLE; //!< socket to send image stream over 00073 char * packet; //!< buffer being filled out to be sent 00074 char * cur; //!< current location in #packet 00075 unsigned int avail; //!< number of bytes remaining in #packet 00076 unsigned int max_buf; //!< the buffer size requested from Wireless when the socket was allocated 00077 00078 private: 00079 SegCamBehavior(const SegCamBehavior&); //!< don't call 00080 SegCamBehavior& operator=(const SegCamBehavior&); //!< don't call 00081 }; 00082 00083 /*! @file 00084 * @brief Describes SegCamBehavior, which forwards segmented images from camera over wireless 00085 * @author ejt (Creator) 00086 * 00087 * $Author: ejt $ 00088 * $Name: tekkotsu-2_2 $ 00089 * $Revision: 1.6 $ 00090 * $State: Exp $ 00091 * $Date: 2004/09/28 22:12:30 $ 00092 */ 00093 00094 #endif |
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