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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. (Generally 00016 * either SegmentedColorGenerator or RLEGenerator) 00017 * 00018 * However, SegCamBehavior will add a few fields at the beginning of 00019 * each packet to assist in processing the image stream. 00020 * 00021 * I emphasize: <i>beginning</i> of each Vision packet, <i>before</i> the FilterBankGenerator header. 00022 * - <@c string:"TekkotsuImage"> 00023 * - <<tt>Config::vision_config::encoding_t</tt>: Config::vision_config::ENCODE_SINGLE_CHANNEL> <i>(always just sends a single channel)</i> 00024 * - <<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> 00025 * - <@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> 00026 * - <@c unsigned @c int: height> <i>(similarly, height of largest channel)</i> 00027 * - <@c unsigned @c int: timestamp> <i>(time image was taken, milliseconds since boot)</i> 00028 * - <@c unsigned @c int: framenumber> <i>(incremented for each frame, so we can tell if/when we drop one)</i> 00029 * 00030 * Alternatively, SegCamBehavior may send a "Close Connection" packet 00031 * when the server is shutting down. This is to help UDP connections, which 00032 * otherwise wouldn't realize that they need to start trying to reconnect. 00033 * - <@c string:"CloseConnection"> 00034 * 00035 * This is exactly the same protocol that is followed by the 00036 * RawCamBehavior as well - the same code can parse either stream. 00037 * 00038 * However, one odd bit - since the RLEGenerator doesn't save the color 00039 * information itself, SegCamBehavior will do it instead. So, if 00040 * SegCamBehavior is using RLE compression, it will tack a footer at 00041 * the end of the packet: (from SegmentedColorGenerator::encodeColors()) 00042 * - <@c unsigned @c int: num_cols> <i>(number of different colors available)</i> 00043 * - for each of num_col: 00044 * - <@c char: red> <i>red color to use for display of this index</i> 00045 * - <@c char: green> <i>green color to use for display of this index</i> 00046 * - <@c char: blue> <i>blue color to use for display of this index</i> 00047 * 00048 * You can tell whether to expect the color footer by the creator string 00049 * that follows the SegCamBehavior header. (The compression field listed 00050 * is considering segmented color itself a type of compression, whether 00051 * or not it's RLE encoded, so you can't use that to tell whether the 00052 * data is RLE encoded until you get to the data section.) 00053 * 00054 * This is a binary protocol -- the fields listed indicate binary values 00055 * in the AIBO's byte order (little endian). Strings are encoded using 00056 * the LoadSave::encode(char*,unsigned int, unsigned int) method. 00057 */ 00058 class SegCamBehavior : public BehaviorBase { 00059 public: 00060 //! constructor 00061 SegCamBehavior(); 00062 00063 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 00064 static const unsigned int UDP_WIRELESS_BUFFER_SIZE=64*1024; //!< 64KB is the max udp packet size 00065 00066 virtual void DoStart(); 00067 00068 virtual void DoStop(); 00069 00070 virtual void processEvent(const EventBase& e); 00071 00072 static std::string getClassDescription() { 00073 char tmp[20]; 00074 snprintf(tmp,20,"%d",config->vision.rle_port); tmp[19]='\0'; 00075 return std::string("Forwards segmented images from camera over port ")+tmp; 00076 } 00077 virtual std::string getDescription() const { return getClassDescription(); } 00078 00079 protected: 00080 //! opens a new packet, writes header info; returns true if open, false if otherwise open (check cur==NULL for error) 00081 /*! see the class documentation for SegCamBehavior for the protocol documentation */ 00082 bool openPacket(FilterBankGenerator& fbkgen, unsigned int time, unsigned int layer); 00083 bool writeRLE(const FilterBankEvent& fbke); //!< writes a color image 00084 bool writeSeg(const FilterBankEvent& fbke); //!< writes a color image 00085 void closePacket(); //!< closes and sends a packet, does nothing if no packet open 00086 00087 //! sends a packet signaling the server is closing the connection (good for UDP connections) 00088 bool sendCloseConnectionPacket(); 00089 00090 Socket * visRLE; //!< socket to send image stream over 00091 char * packet; //!< buffer being filled out to be sent 00092 char * cur; //!< current location in #packet 00093 unsigned int avail; //!< number of bytes remaining in #packet 00094 unsigned int max_buf; //!< the buffer size requested from Wireless when the socket was allocated 00095 unsigned int lastProcessedTime; //!< the time that the last event was processed 00096 00097 private: 00098 SegCamBehavior(const SegCamBehavior&); //!< don't call 00099 SegCamBehavior& operator=(const SegCamBehavior&); //!< don't call 00100 }; 00101 00102 /*! @file 00103 * @brief Describes SegCamBehavior, which forwards segmented images from camera over wireless 00104 * @author ejt (Creator) 00105 * 00106 * $Author: ejt $ 00107 * $Name: tekkotsu-2_4_1 $ 00108 * $Revision: 1.9 $ 00109 * $State: Exp $ 00110 * $Date: 2005/07/29 18:35:05 $ 00111 */ 00112 00113 #endif |
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