/*
* Player Java Client 3 - BlobfinderInterface.java
* Copyright (C) 2002-2006 Radu Bogdan Rusu, Maxim Batalin
*
* 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
*
* $Id$
*
*/
package javaclient3;
import java.io.IOException;
import java.util.logging.Level;
import java.util.logging.Logger;
import javaclient3.structures.PlayerMsgHdr;
import javaclient3.structures.blobfinder.PlayerBlobfinderBlob;
import javaclient3.structures.blobfinder.PlayerBlobfinderColorConfig;
import javaclient3.structures.blobfinder.PlayerBlobfinderData;
import javaclient3.structures.blobfinder.PlayerBlobfinderImagerConfig;
import javaclient3.xdr.OncRpcException;
import javaclient3.xdr.XdrBufferDecodingStream;
import javaclient3.xdr.XdrBufferEncodingStream;
/**
* The blobfinder interface provides access to devices that detect blobs in images.
* @author Radu Bogdan Rusu, Maxim Batalin
* @version
* <ul>
* <li>v2.0 - Player 2.0 supported
* </ul>
*/
public class BlobfinderInterface extends PlayerDevice {
private static final boolean isDebugging = PlayerClient.isDebugging;
// Logging support
private Logger logger = Logger.getLogger (BlobfinderInterface.class.getName ());
private PlayerBlobfinderData pbdata;
private boolean readyPbdata = false;
/**
* Constructor for BlobfinderInterface.
* @param pc a reference to the PlayerClient object
*/
public BlobfinderInterface (PlayerClient pc) { super(pc); }
/**
* Read the list of detected blobs.
*/
public synchronized void readData (PlayerMsgHdr header) {
try {
switch (header.getSubtype ()) {
case PLAYER_BLOBFINDER_DATA_BLOBS: {
this.timestamp = header.getTimestamp();
// Buffer for reading width, height, blobs_count
byte[] buffer = new byte[16];
// Read width, height, blobs_count
is.readFully (buffer, 0, 16);
pbdata = new PlayerBlobfinderData ();
// Begin decoding the XDR buffer
XdrBufferDecodingStream xdr = new XdrBufferDecodingStream (buffer);
xdr.beginDecoding ();
pbdata.setWidth (xdr.xdrDecodeInt ());
pbdata.setHeight (xdr.xdrDecodeInt ());
int blobsCount = xdr.xdrDecodeInt ();
xdr.endDecoding ();
xdr.close ();
// Buffer for reading the blobs
buffer = new byte[PLAYER_BLOBFINDER_MAX_BLOBS * 40];
// Read the blobs
is.readFully (buffer, 0, blobsCount * 40);
xdr = new XdrBufferDecodingStream (buffer);
xdr.beginDecoding ();
PlayerBlobfinderBlob[] pbbs = new PlayerBlobfinderBlob[blobsCount];
for (int i = 0; i < blobsCount; i++) {
PlayerBlobfinderBlob ppb = new PlayerBlobfinderBlob ();
ppb.setId (xdr.xdrDecodeInt ());
ppb.setColor (xdr.xdrDecodeInt ());
ppb.setArea (xdr.xdrDecodeInt ());
ppb.setX (xdr.xdrDecodeInt ());
ppb.setY (xdr.xdrDecodeInt ());
ppb.setLeft (xdr.xdrDecodeInt ());
ppb.setRight (xdr.xdrDecodeInt ());
ppb.setTop (xdr.xdrDecodeInt ());
ppb.setBottom (xdr.xdrDecodeInt ());
ppb.setRange (xdr.xdrDecodeFloat ());
pbbs[i] = ppb;
}
xdr.endDecoding ();
xdr.close ();
pbdata.setBlobs_count (blobsCount);
pbdata.setBlobs (pbbs);
readyPbdata = true;
break;
}
}
} catch (IOException e) {
throw new PlayerException
("[Blobfinder] : Error reading payload: " +
e.toString(), e);
} catch (OncRpcException e) {
throw new PlayerException
("[Blobfinder] : Error while XDR-decoding payload: " +
e.toString(), e);
}
}
/**
* Request/reply: Set tracking color.
* <br><br>
* For some sensors (ie CMUcam), simple blob tracking tracks only one
* color. To set the tracking color, send a PLAYER_BLOBFINDER_REQ_SET_COLOR
* request with the format below, including the RGB color ranges (max
* and min). Values of -1 will cause the track color to be automatically
* set to the current window color. This is useful for setting the track
* color by holding the tracking object in front of the lens. Null response.
* @param pbcc a PlayerBlobfinderColorConfig structure holding the required
* data
*/
public void setTrackingColor (PlayerBlobfinderColorConfig pbcc) {
try {
sendHeader (PLAYER_MSGTYPE_REQ, PLAYER_BLOBFINDER_REQ_SET_COLOR, 24);
XdrBufferEncodingStream xdr = new XdrBufferEncodingStream (24);
xdr.beginEncoding (null, 0);
xdr.xdrEncodeInt (pbcc.getRmin ());
xdr.xdrEncodeInt (pbcc.getRmax ());
xdr.xdrEncodeInt (pbcc.getGmin ());
xdr.xdrEncodeInt (pbcc.getGmax ());
xdr.xdrEncodeInt (pbcc.getBmin ());
xdr.xdrEncodeInt (pbcc.getBmax ());
xdr.endEncoding ();
os.write (xdr.getXdrData (), 0, xdr.getXdrLength ());
xdr.close ();
os.flush ();
} catch (IOException e) {
throw new PlayerException
("[Blobfinder] : Couldn't request " +
"PLAYER_BLOBFINDER_REQ_SET_COLOR: " +
e.toString(), e);
} catch (OncRpcException e) {
throw new PlayerException
("[Blobfinder] : Error while XDR-encoding SET_COLOR request: "
+ e.toString(), e);
}
}
/**
* Configuration request: Set imager params.
* <br><br>
* Imaging sensors that do blob tracking generally have some sorts of
* image quality parameters that you can tweak. The following ones are
* implemented here:
* <ul>
* <li>brightness (0-255)
* <li>contrast (0-255)
* <li>auto gain (0=off, 1=on)
* <li>color mode (0=RGB/AutoWhiteBalance Off,
* 1=RGB/AutoWhiteBalance On, 2=YCrCB/AWB Off, 3=YCrCb/AWB On)
* </ul>
* To set the params, send a PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS
* request with the format below. Any values set to -1 will be left
* unchanged. Null response.
* @param pbic a PlayerBlobfinderImagerConfig structure holding the
* required data
*/
public void setImagerParams (PlayerBlobfinderImagerConfig pbic) {
try {
sendHeader (PLAYER_MSGTYPE_REQ, PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS, 24);
XdrBufferEncodingStream xdr = new XdrBufferEncodingStream (24);
xdr.beginEncoding (null, 0);
xdr.xdrEncodeInt (pbic.getBrightness ());
xdr.xdrEncodeInt (pbic.getContrast ());
xdr.xdrEncodeInt (pbic.getColormode ());
xdr.xdrEncodeInt (pbic.getAutogain ());
xdr.endEncoding ();
os.write (xdr.getXdrData (), 0, xdr.getXdrLength ());
xdr.close ();
os.flush ();
} catch (IOException e) {
throw new PlayerException
("[Blobfinder] : Couldn't request " +
"PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS: " +
e.toString(), e);
} catch (OncRpcException e) {
throw new PlayerException
("[Blobfinder] : Error while XDR-encoding SET_IMAGER_PARAMS " +
"request: " + e.toString(), e);
}
}
/**
* Handle acknowledgement response messages.
* @param header Player header
*/
protected void handleResponse (PlayerMsgHdr header) {
switch (header.getSubtype ()) {
case PLAYER_BLOBFINDER_REQ_SET_COLOR: {
// null response
break;
}
case PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS: {
// null response
break;
}
default:{
if (isDebugging)
logger.log (Level.FINEST, "[Blobfinder][Debug] : " +
"Unexpected response " + header.getSubtype () +
" of size = " + header.getSize ());
break;
}
}
}
/**
* Get the Blobfinder data.
* @return an object of type PlayerBlobfinderData containing the requested data
*/
public PlayerBlobfinderData getData () { return this.pbdata; }
/**
* Check if data is available.
* @return true if ready, false if not ready
*/
public boolean isDataReady () {
if (readyPbdata) {
readyPbdata = false;
return true;
}
return false;
}
}