uimgpushtest.h

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/***************************************************************************
 *   Copyright (C) 2004 by Christian Andersen                              *
 *   jca@oersted.dtu.dk                                                    *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#ifndef UIMGPUSHTEST_H
#define UIMGPUSHTEST_H

#include <ugen4/uimage2.h>
//#include <ugen4/urawimage.h>

#include "uimgsockserv.h"
#include "ucomcam.h"
#include "usockclient.h"
class UImgSockServPushTestConn : public UImgSockServConn
{
public:
  virtual void gotNewMessage(unsigned char * message, int length);

};


class UImgSockServPushTest : public UImgSockServ
{
public:
  UImgSockServPushTest();
  void initialize();

public:
  UImgSockServPushTestConn * clients[MAX_CLIENTS_SERVED];
  bool finished;
};



class UImgClientTest : public USockClient
{
public:
  UImgClientTest();
  virtual ~UImgClientTest();
  bool blockSend(const char * buffer, int length);
  bool sendTimeRequest();
  bool sendCameraInfoRequest(bool allCams);
  bool sendCameraParameterRequest();
  bool sendImageMetaRequest(int sourceNum);
  bool sendImageCaptureRequest(bool removeRadialError,
                               int imageFormat);
  bool sendGetImage(int sourceNum,
                    unsigned int device,
                    bool tryPacked,
                    int line = -1,
                    int format = -1);
  bool sendNewCameraSettings2(UComCam * cs);
  bool sendNewCameraSettings(int dev, int w, int h,
                                 int fps, long imNum,
                                 bool repeatNewImages,
                                 bool newPosition,
                                 UPosition newPos,
                                 bool newRotation,
                                 URotation newRot,
                                 bool ensureOpen);
  bool sendNewCameraParameters(
                   const float radialK1,
                   const float radialK2,
                   const float focalLength,
                   const float headX,
                   const float headY);
  bool sendCameraCalibrateRequest(
                           bool  analyzeImage,
                           int  imageSource,
                           bool  clearAllData,
                           bool  clearSpecificData,
                           float  blockSize,
                           bool  findCameraParams,
                           bool alsoFocalLength,
                           bool alsoK1, bool alsoK2,
                           unsigned long  setsToUse,
                           bool extraImages);
  bool sendBarcodeExecute(int sourceImage,
                     bool findCode,
                     bool extraImages,
                     bool nearGMK,
                     bool findPosition, bool findRotation,
                     bool findChartPosition,
                     bool clearOldData, bool findCameraParameters,
                     int frameSize, float blockSize, int codeBlockFactor,
                     int maxCodesToLookFor,
                     float chartHeight, // height of barcode center for cam calib
                     unsigned char specificCodeLng,
                     int specificCode[]);
  bool sendCameraClose();
  bool sendCameraMaster();
  bool sendPantiltInfoRequest();
  bool sendPantiltPosRequest(
                  bool reset,
                  bool relative,
                  int pan, int tilt);


protected:
  bool decodeTimeMsg(unsigned char * msg);
  bool decodeCameraInfoMsg(unsigned char * msg);
  bool decodeCameraInfoMsg2(unsigned char * msg);
  bool decodeCameraParamMsg(unsigned char * msg);
  bool decodeImageMetaData(unsigned char * msg);
  bool decodeImageData(unsigned char * msg);
  void processMessage(unsigned char * data, int length);
  int decodeMessages();
  bool decodeDone(unsigned char * msg);
  bool decodeBarcodeCode(unsigned char * msg);
  bool decodePantiltPosition(unsigned char * msg);
  virtual void imageMetaUpdated(int imageSlot);
  virtual void imageUpdated(unsigned int serial,
                            int source,
                            int row, bool isBW);
  virtual void cameraDataUpdated(int device);
  //virtual void barcodeDataUpdated(int codeNumber);
  virtual void timeUpdated() {;};
  virtual void sInfo(const char * message, int type);

public:
  UTime timeServ;
  int   formatMajor;
  int   formatMinor;
  //
  // image format
  // bool tryPacked;
  int tryColorFormat;
  bool reqOutstanding;
  int reqMessageSerial;
  UTime reqTime;
  UTime recvTime;
  UTime startTime;
  UTime startTimeClient;
  int imagesReceived;

  // partially received image
  UImage640 * rgbImage; // unpacked image data
  URawImage * rawImage; // image in YUV:4:2:0 format
  // received image data
  bool dataBuffersCreated;
  // debug and control
  bool verboseMessages;
  //
  UComCam ccam;
protected:
  bool receiving;
  unsigned char message[MAX_MESSAGE_LENGTH_FROM_CAM * 2];
  int messageCnt;
  int serial;
  int selectedDeviceNumber;
};

#endif