#include <uimgpushtest.h>

Inheritance diagram for UImgClientTest:

Public Member Functions
bool	blockSend (const char *buffer, int length)

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, unsigned char specificCodeLng, int specificCode[])

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	sendCameraClose ()

bool	sendCameraInfoRequest (bool allCams)

bool	sendCameraMaster ()

bool	sendCameraParameterRequest ()

bool	sendGetImage (int sourceNum, unsigned int device, bool tryPacked, int line=-1, int format=-1)

bool	sendImageCaptureRequest (bool removeRadialError, int imageFormat)

bool	sendImageMetaRequest (int sourceNum)

bool	sendNewCameraParameters (const float radialK1, const float radialK2, const float focalLength, const float headX, const float headY)

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	sendNewCameraSettings2 (UComCam *cs)

bool	sendPantiltInfoRequest ()

bool	sendPantiltPosRequest (bool reset, bool relative, int pan, int tilt)

bool	sendTimeRequest ()

	UImgClientTest ()

virtual	~UImgClientTest ()

Public Member Functions inherited from USockClient
bool	blockSend (const char *buffer, int length)

void	closeConnection ()

virtual void	connectionLost ()

bool	doDisconnect ()

bool	getDataFromLine (int pollTimeoutMs)

char *	getHost ()

int	getPort ()

void	handleConnection (bool terminateOnDisconnect=false)

bool	isConnected ()

virtual void	pollTimeout ()

int	setHost (const char *iHost)

int	setPort (int iPort)

virtual void	transmissionTraffic (bool traffic)

bool	tryConnect (bool andStartReceiveThread=true)

	USockClient ()

virtual	~USockClient ()

Public Attributes
UComCam	ccam

bool	dataBuffersCreated

int	formatMajor

int	formatMinor

int	imagesReceived

URawImage *	rawImage

UTime	recvTime

int	reqMessageSerial

bool	reqOutstanding

UTime	reqTime

UImage640 *	rgbImage

UTime	startTime

UTime	startTimeClient

UTime	timeServ

int	tryColorFormat

bool	verboseMessages

Protected Member Functions
virtual void	cameraDataUpdated (int device)

bool	decodeBarcodeCode (unsigned char *msg)

bool	decodeCameraInfoMsg (unsigned char *msg)

bool	decodeCameraInfoMsg2 (unsigned char *msg)

bool	decodeCameraParamMsg (unsigned char *msg)

bool	decodeDone (unsigned char *msg)

bool	decodeImageData (unsigned char *msg)

bool	decodeImageMetaData (unsigned char *msg)

int	decodeMessages ()

bool	decodePantiltPosition (unsigned char *msg)

bool	decodeTimeMsg (unsigned char *msg)

virtual void	imageMetaUpdated (int imageSlot)

virtual void	imageUpdated (unsigned int serial, int source, int row, bool isBW)

void	processMessage (unsigned char *data, int length)

virtual void	sInfo (const char *message, int type)

virtual void	timeUpdated ()

Protected Attributes
unsigned char	message [MAX_MESSAGE_LENGTH_FROM_CAM *2]

int	messageCnt

bool	receiving

int	selectedDeviceNumber

int	serial

Protected Attributes inherited from USockClient
char	host [MAX_HOST_LENGTH]

int	pollTimeoutMs

int	port

unsigned int	readCnt

Detailed Description

Image client function

Constructor & Destructor Documentation

UImgClientTest::UImgClientTest ( )

Constructor

virtual UImgClientTest::~UImgClientTest ( )

virtual

Member Function Documentation

bool UImgClientTest::blockSend	(	const char *	buffer,
		int	length
	)

Send message block, but first log, what is transmitted.

virtual void UImgClientTest::cameraDataUpdated ( int device )

protectedvirtual

Called, when camera information is updated

bool UImgClientTest::decodeBarcodeCode ( unsigned char * msg )

protected

Decode message with barcode code. Returns true if decoded OK.

bool UImgClientTest::decodeCameraInfoMsg ( unsigned char * msg )

protected

Decode message with camera info - like image size and device name. Returns true if no errors were found.

bool UImgClientTest::decodeCameraInfoMsg2 ( unsigned char * msg )

protected

Full camera device state message (replaces first version) Returns true if no errors were found.

bool UImgClientTest::decodeCameraParamMsg ( unsigned char * msg )

protected

Decode message with camera parameters - like focus length and radial error parameters. Returns true if no errors were found.

bool UImgClientTest::decodeDone ( unsigned char * msg )

protected

Decode done message, that are the default message, if no other data are returned. This message may include a string. if so, then this is logged. Returns true.

bool UImgClientTest::decodeImageData ( unsigned char * msg )

protected

Decode message with image pixel data (packed or unpacked) returns true if no format error were found. The full message consist of several messages of this type. The last message is marked, and could trigger further action.

bool UImgClientTest::decodeImageMetaData ( unsigned char * msg )

protected

Decode received image meta data

int UImgClientTest::decodeMessages ( )

protected

Decode a received message. Returns number of bytes used.

bool UImgClientTest::decodePantiltPosition ( unsigned char * msg )

protected

Decode message with pan-tilt support and position info. Returns true if message is valid

bool UImgClientTest::decodeTimeMsg ( unsigned char * msg )

protected

Decode this time message

virtual void UImgClientTest::imageMetaUpdated ( int imageSlot )

protectedvirtual

Called when image meta data is updated

virtual void UImgClientTest::imageUpdated	(	unsigned int	serial,
		int	source,
		int	row,
		bool	isBW
	)

protectedvirtual

Called when image is updated. if only one row, then row specified. if full image, then row is -1. If 'isBW' is true, then only Y channel is used (U,V is 128).

void UImgClientTest::processMessage	(	unsigned char *	data,
		int	length
	)

protectedvirtual

Called by receive thread every time some bytes have been received. There is no garantee that data is separated at a message boundary.

Reimplemented from USockClient.

bool UImgClientTest::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,
		unsigned char	specificCodeLng,
		int	specificCode[]
	)

Send request for analyzing current image for barcode data. Barcode frame size must be (frameSize), and each block is a 'blockSize' cm square. booleand flag indicates different calculation and debugging options. Returns true if send.

bool UImgClientTest::sendCameraCalibrateRequest	(	bool	analyzeImage,
		int	imageSource,
		bool	clearAllData,
		bool	clearSpecificData,
		float	blockSize,
		bool	findCameraParams,
		bool	alsoFocalLength,
		bool	alsoK1,
		bool	alsoK2,
		unsigned long	setsToUse,
		bool	extraImages
	)

Send camera calibration request for estimation of radial error parameters

bool UImgClientTest::sendCameraClose ( )

Send request to close device. Returns true if send.

bool UImgClientTest::sendCameraInfoRequest ( bool allCams )

Request camera information - such as device number, frame speed, device name and frame size. Returns true if send.

bool UImgClientTest::sendCameraMaster ( )

Send request to be master for controlling this camera

bool UImgClientTest::sendCameraParameterRequest ( )

Request camara parameter info, such as focus length, radial error parameters and head point. Returns true if send.

bool UImgClientTest::sendGetImage	(	int	sourceNum,
		unsigned int	device,
		bool	tryPacked,
		int	line = `-1`,
		int	format = `-1`
	)

Request image, either packed or unpacked. Source number is image source at camera server. Destination is saved until image is retrived. If line number != -1, then just the specified line is send. If format (color) is -1 then the default format is used as set by tryColorFormat parameter. Format can be 1 = YUV, 2 = RGB or 3 = BW. Returns true if send.

bool UImgClientTest::sendImageCaptureRequest	(	bool	removeRadialError,
		int	imageFormat
	)

Send request to capture a new image, with or without radial error removed. Returns true if send.

bool UImgClientTest::sendImageMetaRequest ( int sourceNum )

Request a image metadata to be taken with default camera parameters. NB! actual image is not send, but will have to be requested separately.

bool UImgClientTest::sendNewCameraParameters	(	const float	radialK1,
		const float	radialK2,
		const float	focalLength,
		const float	headX,
		const float	headY
	)

Send specific camera settings. Radial error parameters K1 must be larger than 1e-12 and parameter K2 must be larger than 1e-15. Focus length with 2 decomals in pixels. headX center point in pixels. headY center point in pixels.

bool UImgClientTest::sendNewCameraSettings	(	int	dev,
		int	w,
		int	h,
		int	fps,
		long	imNum,
		bool	repeatNewImages,
		bool	newPosition,
		UPosition	newPos,
		bool	newRotation,
		URotation	newRot,
		bool	ensureOpen
	)

Request that camera settings are changed to this device ('/dev/videoX' with X = 0..5), Width (w) and height (h) normally from 160x120 to 640x480. (0,0) means no change.
Frames per seconf (fps) normally 5, 10, 15 or 30.
fps = -1 (0xff) means no change.
Image number is camera serial number will be set to this number.
Relative camera position on robot is used when reporting estimated single camera positions of e.g. barchart position. The position is set if 'newPosition' is true.
The rotation is set if 'newRotation' is true.
imNum = -1 means no change.
Returns true if send.

bool UImgClientTest::sendNewCameraSettings2 ( UComCam * cs )

Request new camera settings, as defined in UComCam structure. Returns true if send.

bool UImgClientTest::sendPantiltInfoRequest ( )

Send request for pan-tilt position and range for this camera

bool UImgClientTest::sendPantiltPosRequest	(	bool	reset,
		bool	relative,
		int	pan,
		int	tilt
	)

Request a pan-tilt camera to move to a desired position

bool UImgClientTest::sendTimeRequest ( )

Request camera time

virtual void UImgClientTest::sInfo	(	const char *	message,
		int	type
	)

protectedvirtual

Called when something is to be displayed or logged. if not handled by virtual function, then messages are just printed to console.

Reimplemented from USockClient.

virtual void UImgClientTest::timeUpdated ( )

inlineprotectedvirtual

Barcode data updated Version or server time updated

Member Data Documentation

UComCam UImgClientTest::ccam

bool UImgClientTest::dataBuffersCreated

int UImgClientTest::formatMajor

server version major (set on connect)

int UImgClientTest::formatMinor

server version major (set on connect)

int UImgClientTest::imagesReceived

Image count

unsigned char UImgClientTest::message[MAX_MESSAGE_LENGTH_FROM_CAM *2]

protected

buffer for incomplete messages plus new full buffer of data

int UImgClientTest::messageCnt

protected

bytes in buffer

URawImage* UImgClientTest::rawImage

bool UImgClientTest::receiving

protected

UTime UImgClientTest::recvTime

Timing test - time for received and unpacked

int UImgClientTest::reqMessageSerial

bool UImgClientTest::reqOutstanding

requested image data

UTime UImgClientTest::reqTime

UImage640* UImgClientTest::rgbImage

int UImgClientTest::selectedDeviceNumber

protected

Current device number for info-messages etc. i.e. when a message is send or received without explicit device number.

int UImgClientTest::serial

protected

message serial number

UTime UImgClientTest::startTime

Timing test - time start of test

UTime UImgClientTest::startTimeClient

Timing test sime of reception of first image meta

UTime UImgClientTest::timeServ

Received parameters server time (set when requested only)

int UImgClientTest::tryColorFormat

This is ...

bool UImgClientTest::verboseMessages

The documentation for this class was generated from the following file:

uimgpushtest.h

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation