SegCamBehavior Class Reference
#include <SegCamBehavior.h>
Inheritance diagram for SegCamBehavior:
Detailed Description
Forwards 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.
- <
string:"TekkotsuImage"> - <
Config::vision_config::encoding_t: Config::vision_config::ENCODE_SINGLE_CHANNEL> (always just sends a single channel) - <
Config::vision_config::compression_t: Config::vision_config::COMPRESS_RLE> (This is misleading - may actually be uncompressed, but this signals it's a segmented color image) - <
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, 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.
- <
string:"CloseConnection">
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())
- <
unsignedint:num_cols> (number of different colors available) - for each of num_col:
- <
char:red> red color to use for display of this index - <
char:green> green color to use for display of this index - <
char:blue> blue color to use for display of this index
- <
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.
Public Member Functions | |
| SegCamBehavior () | |
| constructor | |
| ~SegCamBehavior () | |
| destructor | |
| virtual void | DoStart () |
| By default, merely adds to the reference counter (through AddReference()); Note you should still call this from your overriding methods. | |
| virtual void | DoStop () |
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 delete this ). | |
| virtual void | processEvent (const EventBase &e) |
| By defining here, allows you to get away with not supplying a processEvent() function for the EventListener interface. By default, does nothing. | |
| 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 Public Attributes | |
| 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 | |
| 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 (visRLE) | |
| void | setupServer () |
| setup the server socket (visRLE ) | |
| 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 | writeRLE (const FilterBankEvent &fbke) |
| writes a color image | |
| bool | writeSeg (const FilterBankEvent &fbke) |
| writes a color image | |
| 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 * | visRLE |
| socket to send image stream over | |
| char * | packet |
| buffer being filled out to be sent | |
| char * | cur |
| current location in packet | |
| unsigned int | avail |
| number of bytes remaining in packet | |
| 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 SegCamBehavior * | theOne = NULL |
Private Member Functions | |
| SegCamBehavior (const SegCamBehavior &) | |
| don't call | |
| SegCamBehavior & | operator= (const SegCamBehavior &) |
| don't call | |
Member Function Documentation
| static std::string SegCamBehavior::getClassDescription | ( | ) | [inline, 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 75 of file SegCamBehavior.h.
Referenced by getDescription().
| virtual std::string SegCamBehavior::getDescription | ( | ) | const [inline, 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.
Definition at line 80 of file SegCamBehavior.h.
| bool SegCamBehavior::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 SegCamBehavior for the protocol documentation
Definition at line 123 of file SegCamBehavior.cc.
Referenced by writeRLE(), and writeSeg().
Member Data Documentation
SegCamBehavior * SegCamBehavior::theOne = NULL [static, protected] |
global instance of SegCamBehavior acting as server
Definition at line 83 of file SegCamBehavior.h.
Referenced by networkCallback(), SegCamBehavior(), and ~SegCamBehavior().
The documentation for this class was generated from the following files:
