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SegCamBehavior Class Reference#include <SegCamBehavior.h>
Inheritance diagram for SegCamBehavior:
![]() Detailed DescriptionForwards segmented 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 SegmentedColorGenerator or RLEGenerator) However, SegCamBehavior 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.
Alternatively, SegCamBehavior 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.
This is exactly the same protocol that is followed by the RawCamBehavior as well - the same code can parse either stream. However, one odd bit - since the RLEGenerator doesn't save the color information itself, SegCamBehavior will do it instead. So, if SegCamBehavior is using RLE compression, it will tack a footer at the end of the packet: (from SegmentedColorGenerator::encodeColors())
You can tell whether to expect the color footer by the creator string that follows the SegCamBehavior header. (The compression field listed is considering segmented color itself a type of compression, whether or not it's RLE encoded, so you can't use that to tell whether the data is RLE encoded until you get to the data section.) 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 58 of file SegCamBehavior.h.
Constructor & Destructor Documentation
don't call
Member Function Documentation
By default, merely adds to the reference counter (through AddReference()); Note you should still call this from your overriding methods.
Reimplemented from BehaviorBase. Definition at line 20 of file SegCamBehavior.cc.
By default, subtracts from the reference counter (RemoveReference()), and thus may deletex if zero; Don't forget to still call this when you override this; Warning: call this at the end of your DoStop(), not beginning (it might
Reimplemented from BehaviorBase. Definition at line 28 of file SegCamBehavior.cc. Referenced by processEvent().
By defining here, allows you to get away with not supplying a processEvent() function for the EventListener interface. By default, does nothing.
Reimplemented from CameraStreamBehavior. Definition at line 35 of file SegCamBehavior.cc.
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 78 of file SegCamBehavior.h.
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 83 of file SegCamBehavior.h.
function for network data to be sent to -- forwards to theOne's receiveData()
Definition at line 88 of file SegCamBehavior.h. Referenced by setupServer().
tear down the server socket (visRLE)
Definition at line 85 of file SegCamBehavior.cc. Referenced by DoStop(), and processEvent().
setup the server socket (visRLE )
Definition at line 97 of file SegCamBehavior.cc. Referenced by DoStart(), and processEvent().
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 SegCamBehavior for the protocol documentation Definition at line 123 of file SegCamBehavior.cc. Referenced by writeRLE(), and writeSeg().
writes a color image
Definition at line 149 of file SegCamBehavior.cc. Referenced by processEvent().
writes a color image
Definition at line 174 of file SegCamBehavior.cc. Referenced by processEvent().
closes and sends a packet, does nothing if no packet open
Definition at line 191 of file SegCamBehavior.cc. Referenced by processEvent(), writeRLE(), and writeSeg().
sends a packet signaling the server is closing the connection (good for UDP connections)
Definition at line 201 of file SegCamBehavior.cc. Referenced by closeServer().
don't call
Member Data Documentation
85000 bytes for use up to 416x320 pixels / 8 min expected runs * 5 bytes per run + some padding
Definition at line 67 of file SegCamBehavior.h. Referenced by setupServer().
64KB is the max udp packet size
Definition at line 70 of file SegCamBehavior.h. Referenced by setupServer().
global instance of SegCamBehavior acting as server Definition at line 86 of file SegCamBehavior.h. Referenced by networkCallback(), SegCamBehavior(), and ~SegCamBehavior().
socket to send image stream over
Definition at line 103 of file SegCamBehavior.h. Referenced by closePacket(), closeServer(), openPacket(), processEvent(), sendCloseConnectionPacket(), and setupServer().
buffer being filled out to be sent
Definition at line 104 of file SegCamBehavior.h. Referenced by closePacket(), openPacket(), and processEvent().
current location in packet
Definition at line 105 of file SegCamBehavior.h. Referenced by closePacket(), openPacket(), processEvent(), writeRLE(), and writeSeg().
number of bytes remaining in packet
Definition at line 106 of file SegCamBehavior.h. Referenced by closePacket(), openPacket(), writeRLE(), and writeSeg().
the buffer size requested from Wireless when the socket was allocated
Definition at line 107 of file SegCamBehavior.h. Referenced by openPacket(), and setupServer().
the time that the last event was processed
Reimplemented from CameraStreamBehavior. Definition at line 108 of file SegCamBehavior.h. Referenced by closePacket(), and processEvent().
The documentation for this class was generated from the following files: |
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