WireImage.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP2_WIREIMAGE
#define YARP2_WIREIMAGE
 
#include <yarp/conf/system.h>
#include <yarp/os/SizedWriter.h>
#include <yarp/os/StringOutputStream.h>
#include <yarp/os/ConnectionWriter.h>
#include <yarp/os/ManagedBytes.h>
#include <yarp/sig/Image.h>
#include <cstdlib>
#include <cstring>
 
#include <yarp/wire_rep_utils/api.h>
 
namespace yarp::wire_rep_utils {
 
/*
// layout for ROS:
// Header header
//   uint32 seq      --> +1
//   time stamp      --> int32 secs, int32 nsecs (sync by time)
//   string frame_id --> string! argh / just pass it along
// uint32 height
// uint32 width
// string encoding   --> string! argh
// uint8 is_bigendian
// uint32 step
// uint8[] data      --> real payload
*/
 
YARP_BEGIN_PACK
class RosImageStamp {
public:
    yarp::os::NetInt32 seq;
    yarp::os::NetInt32 sec;
    yarp::os::NetInt32 nsec;
};
YARP_END_PACK
 
class RosWireImage : public yarp::os::SizedWriter {
private:
    RosImageStamp ros_seq_stamp;
    yarp::os::ManagedBytes ros_const_header;
    const yarp::sig::FlexImage *image;
public:
    RosWireImage() :
        ros_seq_stamp({0,0,0}),
        image(nullptr)
    {}
 
    void init(const yarp::sig::FlexImage& img,
              const std::string& frame) {
        image = &img;
        yarp::os::ConnectionWriter *pbuf =
            yarp::os::ConnectionWriter::createBufferedConnectionWriter();
        if (!pbuf) {
            ::exit(1);
        }
        yarp::os::ConnectionWriter& buf = *pbuf;
        yarp::os::StringOutputStream ss;
        // probably need to translate encoding format better, but at
        // a guess "rgb" and "bgr" will work ok.
        std::string encoding =
            yarp::os::Vocab32::decode(image->getPixelCode()).c_str();
        switch (image->getPixelCode()) {
        case VOCAB_PIXEL_BGR:
            encoding = "bgr8";
            break;
        case VOCAB_PIXEL_RGB:
            encoding = "rgb8";
            break;
        case VOCAB_PIXEL_MONO:
            encoding = "mono8";
            break;
        case VOCAB_PIXEL_MONO16:
            encoding = "mono16";
            break;
        case VOCAB_PIXEL_MONO_FLOAT:
            encoding = "32FC1";
            break;
        }
        buf.appendString(frame);
        buf.appendInt32(image->height());
        buf.appendInt32(image->width());
        buf.appendString(encoding);
        char is_bigendian = 0;
        buf.appendBlock(&is_bigendian,1);
        buf.appendInt32((image->width()*image->getPixelSize())+image->getPadding());
        buf.appendInt32(image->getRawImageSize());
        buf.getBuffer()->write(ss);
        std::string hdr = ss.toString();
        yarp::os::Bytes hdr_wrap((char*)hdr.c_str(),hdr.length());
        ros_const_header = yarp::os::ManagedBytes(hdr_wrap);
        ros_const_header.copy();
        delete pbuf;
        pbuf = 0 /*NULL*/;
    }
 
    void update(const yarp::sig::FlexImage *img, int seq, double t) {
        // We should check if img properties have changed.  But we don't.
        ros_seq_stamp.seq = seq;
        ros_seq_stamp.sec = (int)(t);
        ros_seq_stamp.nsec = (int)((t-(int)t)*1e9);
    }
 
    size_t length() const override { return 3; }
 
    size_t headerLength() const override { return 0; }
 
    size_t length(size_t index) const override {
        size_t result = 0;
        switch (index) {
        case 0:
            result = sizeof(ros_seq_stamp);
            break;
        case 1:
            result = ros_const_header.length();
            break;
        case 2:
            result = image->getRawImageSize();
            break;
        default:
            result = 0;
            break;
        }
        return result;
    }
 
    const char *data(size_t index) const override {
        const char *result = 0 /*NULL*/;
        switch (index) {
        case 0:
            result = (const char *)(&ros_seq_stamp);
            break;
        case 1:
            result = ros_const_header.get();
            break;
        case 2:
            result = (const char *)(image->getRawImage());
            break;
        }
        return result;
    }
 
    yarp::os::PortReader *getReplyHandler() override { return NULL; }
 
    yarp::os::Portable *getReference() override { return NULL; }
 
    bool dropRequested() override { return false; }
 
    void startWrite() const override {}
 
    void stopWrite() const override {}
};
 
class YARP_wire_rep_utils_API WireImage {
private:
    yarp::sig::FlexImage img;
public:
    yarp::sig::FlexImage *checkForImage(yarp::os::SizedWriter& writer);
};
 
} // namespace yarp::wire_rep_utils
 
#endif