Decode bayer images and serve them as regular rgb. More...

#include <bayer_carrier/BayerCarrier.h>

Inheritance diagram for BayerCarrier:

Public Member Functions
	BayerCarrier ()

	~BayerCarrier ()

Carrier *	create () const override
	Factory method.

std::string	getName () const override
	Get the name of this connection type ("tcp", "mcast", "shmem", ...)

std::string	toString () const override
	Get name of carrier.

yarp::os::ConnectionReader &	modifyIncomingData (yarp::os::ConnectionReader &reader) override
	Modify incoming payload data, if appropriate.

bool	expectBlock (char *data, size_t len) override
	Read a block of data from the network connection.

std::string	expectText (const char terminatingChar='\n') override
	Read some text from the network connection.

std::int8_t	expectInt8 () override
	Read a 8-bit integer from the network connection.

std::int16_t	expectInt16 () override
	Read a 16-bit integer from the network connection.

std::int32_t	expectInt32 () override
	Read a 32-bit integer from the network connection.

std::int64_t	expectInt64 () override
	Read a 64-bit integer from the network connection.

bool	pushInt (int x) override
	Store an integer to return on the next call to expectInt()

yarp::conf::float32_t	expectFloat32 () override
	Read a 32-bit floating point number from the network connection.

yarp::conf::float64_t	expectFloat64 () override
	Read a 64-bit floating point number from the network connection.

bool	isTextMode () const override
	Check if carrier is textual in nature.

bool	isBareMode () const override
	Check if carrier excludes type information from payload.

bool	convertTextMode () override
	Reads in a standard description in text mode, and converts it to a standard description in binary.

size_t	getSize () const override
	Checks how much data is available.

yarp::os::ConnectionWriter *	getWriter () override
	Gets a way to reply to the message, if possible.

yarp::os::Bytes	readEnvelope () override
	Read a message envelope, if available.

yarp::os::Portable *	getReference () const override
	Get a direct pointer to the object being sent, if possible.

yarp::os::Contact	getRemoteContact () const override
	Gets information about who is supplying the data being read, if that information is available.

yarp::os::Contact	getLocalContact () const override
	Gets information about who is receiving the data, if that information is available.

bool	isValid () const override
	Check if this object is really a connection, or just an empty placeholder.

bool	isActive () const override
	Check if carrier is alive and error free.

bool	isError () const override

void	requestDrop () override
	Tag the connection to be dropped after the current message.

const yarp::os::Searchable &	getConnectionModifiers () const override
	Access modifiers associated with the connection, if any.

bool	setSize (size_t len) override

void	flushWriter () override

yarp::conf::ssize_t	read (yarp::os::Bytes &b) override
	Read a block of data from the stream.

void	close () override
	Close the carrier.

bool	isOk () const override
	Check if the stream is ok or in an error state.

void	setParent (yarp::os::ConnectionReader &reader)

virtual bool	debayerFull (yarp::sig::ImageOf< yarp::sig::PixelMono > &src, yarp::sig::ImageOf< yarp::sig::PixelRgb > &dest)

virtual bool	debayerHalf (yarp::sig::ImageOf< yarp::sig::PixelMono > &src, yarp::sig::ImageOf< yarp::sig::PixelRgb > &dest)

virtual bool	processBuffered () const

virtual bool	processBuffered ()

virtual bool	processDirect (yarp::os::Bytes &bytes)

Public Member Functions inherited from yarp::os::ModifyingCarrier
bool	checkHeader (const yarp::os::Bytes &header) override
	Given the first 8 bytes received on a connection, decide if this is the right carrier type to use for the rest of the connection.

void	getHeader (yarp::os::Bytes &header) const override
	Provide 8 bytes describing this connection sufficiently to allow the other side of a connection to select it.

bool	respondToHeader (yarp::os::ConnectionState &proto) override
	Respond to the header.

bool	modifiesIncomingData () const override
	Check if this carrier modifies incoming data through the Carrier::modifyIncomingData method.

bool	modifiesOutgoingData () const override
	Check if this carrier modifies outgoing data through the Carrier::modifyOutgoingData method.

bool	modifiesReply () const override
	Check if this carrier modifies outgoing data through the Carrier::modifyReply method.

void	setCarrierParams (const yarp::os::Property &params) override
	Configure carrier from port administrative commands.

void	getCarrierParams (yarp::os::Property &params) const override
	Get carrier configuration and deliver it by port administrative commands.

bool	configureFromProperty (yarp::os::Property &prop) override

Public Member Functions inherited from yarp::os::AbstractCarrier
void	setParameters (const yarp::os::Bytes &header) override
	Configure this carrier based on the first 8 bytes of the connection.

bool	isConnectionless () const override
	Check if this carrier is connectionless (like udp, mcast) or connection based (like tcp).

bool	supportReply () const override
	This flag is used by YARP to determine whether the connection can carry RPC traffic, that is, messages with replies.

bool	canAccept () const override
	Check if reading is implemented for this carrier.

bool	canOffer () const override
	Check if writing is implemented for this carrier.

bool	requireAck () const override
	Check if carrier has flow control, requiring sent messages to be acknowledged by recipient.

bool	canEscape () const override
	Check if carrier can encode administrative messages, as opposed to just user data.

bool	isLocal () const override
	Check if carrier operates within a single process.

bool	prepareSend (ConnectionState &proto) override
	Perform any initialization needed before writing on a connection.

bool	sendHeader (ConnectionState &proto) override
	Write a header appropriate to the carrier to the connection, followed by any carrier-specific data.

bool	expectReplyToHeader (ConnectionState &proto) override
	Process reply to header, if one is expected for this carrier.

virtual bool	sendIndex (ConnectionState &proto, SizedWriter &writer)

bool	expectExtraHeader (ConnectionState &proto) override
	Receive any carrier-specific header.

bool	expectIndex (ConnectionState &proto) override
	Expect a message header, if there is one for this carrier.

bool	expectSenderSpecifier (ConnectionState &proto) override
	Expect the name of the sending port.

bool	sendAck (ConnectionState &proto) override
	Send an acknowledgement, if needed for this carrier.

bool	expectAck (ConnectionState &proto) override
	Receive an acknowledgement, if expected for this carrier.

bool	defaultSendHeader (ConnectionState &proto)
	Default implementation for the sendHeader method.

bool	defaultExpectIndex (ConnectionState &proto)
	Default implementation for the expectIndex method.

bool	defaultSendIndex (ConnectionState &proto, SizedWriter &writer)
	Default implementation for the sendIndex method.

bool	defaultExpectAck (ConnectionState &proto)
	Default implementation for the expectAck method.

bool	defaultSendAck (ConnectionState &proto)
	Default implementation for the sendAck method.

int	readYarpInt (ConnectionState &proto)
	Read 8 bytes and interpret them as a YARP number.

void	writeYarpInt (int n, ConnectionState &proto)
	Write `n` as an 8 bytes yarp number.

Public Member Functions inherited from yarp::os::Carrier
bool	isBroadcast () const override
	Check if this carrier uses a broadcast mechanism.

void	handleEnvelope (const std::string &envelope) override
	Carriers that do not distinguish data from administrative headers (i.e.

bool	isPush () const override
	Check if carrier is "push" or "pull" style.

virtual bool	reply (ConnectionState &proto, SizedWriter &writer)

void	prepareDisconnect () override
	Do cleanup and preparation for the coming disconnect, if necessary.

virtual	~Carrier ()
	Destructor.

virtual std::string	getBootstrapCarrierName () const
	Get the name of the carrier that should be used prior to handshaking, if a port is registered with this carrier as its default carrier.

virtual int	connect (const Contact &src, const Contact &dest, const ContactStyle &style, int mode, bool reversed)
	Some carrier types may require special connection logic.

ConnectionReader &	modifyIncomingData (ConnectionReader &reader) override
	Modify incoming payload data, if appropriate.

bool	acceptIncomingData (ConnectionReader &reader) override
	Determine whether incoming data should be accepted.

const PortWriter &	modifyOutgoingData (const PortWriter &writer) override
	Modify outgoing payload data, if appropriate.

PortReader &	modifyReply (PortReader &reader) override
	Modify reply payload data, if appropriate.

bool	acceptOutgoingData (const PortWriter &writer) override
	Determine whether outgoing data should be accepted.

virtual bool	configure (ConnectionState &proto)
	Give carrier a shot at looking at how the connection is set up.

virtual yarp::os::Face *	createFace () const
	Create new Face object that the carrier needs.

Public Member Functions inherited from yarp::os::Connection
virtual	~Connection ()
	Destructor.

Public Member Functions inherited from yarp::os::ConnectionReader
virtual	~ConnectionReader ()
	Destructor.

virtual std::string	expectString ()
	Read a string from the network connection.

virtual void	setParentConnectionReader (ConnectionReader *parentConnectionReader)
	Set ConnectionReader to be used for reading the envelope.

Public Member Functions inherited from yarp::os::InputStream
	InputStream ()
	Constructor.

virtual	~InputStream ()
	Destructor.

virtual void	check ()
	Perform maintenance actions, if needed.

virtual int	read ()
	Read and return a single byte.

virtual yarp::conf::ssize_t	read (Bytes &b, size_t offset, yarp::conf::ssize_t len)
	Read a block of data from the stream.

virtual yarp::conf::ssize_t	partialRead (yarp::os::Bytes &b)
	Like read, but solicit partial responses.

virtual void	interrupt ()
	Interrupt the stream.

virtual bool	setReadTimeout (double timeout)
	Set activity timeout.

std::string	readLine (const char terminal='\n', bool *success=nullptr)
	Read a block of text terminated with a specific marker (or EOF).

yarp::conf::ssize_t	readFull (Bytes &b)
	Keep reading until buffer is full.

yarp::conf::ssize_t	readDiscard (size_t len)
	Read and discard a fixed number of bytes.

virtual bool	setReadEnvelopeCallback (readEnvelopeCallbackType callback, void *data)
	Install a callback that the InputStream will have to call when the envelope is read from a message in carriers that cannot be escaped.

Additional Inherited Members
Public Types inherited from yarp::os::InputStream
typedef void(*	readEnvelopeCallbackType) (void *, const yarp::os::Bytes &envelope)
	Callback type for setting the envelope from a message in carriers that cannot be escaped.

Static Public Member Functions inherited from yarp::os::ConnectionReader
static ConnectionReader *	createConnectionReader (InputStream &is)
	Create an instance of YARP's standard connection reader implementation.

static bool	readFromStream (PortReader &portable, InputStream &is)

Protected Member Functions inherited from yarp::os::AbstractCarrier
int	getSpecifier (const Bytes &b) const

void	createStandardHeader (int specifier, yarp::os::Bytes &header) const

bool	write (ConnectionState &proto, SizedWriter &writer) override
	Write a message.

bool	sendConnectionStateSpecifier (ConnectionState &proto)

bool	sendSenderSpecifier (ConnectionState &proto)

Static Protected Member Functions inherited from yarp::os::AbstractCarrier
static int	interpretYarpNumber (const yarp::os::Bytes &b)

static void	createYarpNumber (int x, yarp::os::Bytes &header)

Detailed Description

Decode bayer images and serve them as regular rgb.

Affected by carrier modifiers. Examples: tcp+recv.bayer tcp+recv.bayer+size.half tcp+recv.bayer+size.half+order.bggr

Definition at line 24 of file BayerCarrier.h.

Constructor & Destructor Documentation

◆ BayerCarrier()

BayerCarrier::BayerCarrier ( )

inline

Definition at line 60 of file BayerCarrier.h.

◆ ~BayerCarrier()

BayerCarrier::~BayerCarrier ( )

inline

Definition at line 76 of file BayerCarrier.h.

Member Function Documentation

◆ close()

void BayerCarrier::close ( )

inlineoverridevirtual

Close the carrier.

Reimplemented from yarp::os::Carrier.

Definition at line 209 of file BayerCarrier.h.

◆ convertTextMode()

bool BayerCarrier::convertTextMode ( )

inlineoverridevirtual

Reads in a standard description in text mode, and converts it to a standard description in binary.

Useful if you only operate on the binary description usually, and just want to permit text mode for command-line interaction. If isTextMode would return false, no conversion is done.

Returns: true if the conversion was possible

Implements yarp::os::ConnectionReader.

Definition at line 144 of file BayerCarrier.h.

◆ create()

Carrier * BayerCarrier::create ( ) const

inlineoverridevirtual

Factory method.

Get a new object of the same type as this one.

Returns: a new object of the same type as this one.

Implements yarp::os::ModifyingCarrier.

Definition at line 82 of file BayerCarrier.h.

◆ debayerFull()

bool BayerCarrier::debayerFull	(	yarp::sig::ImageOf< yarp::sig::PixelMono > &	src,
		yarp::sig::ImageOf< yarp::sig::PixelRgb > &	dest
	)

virtual

Definition at line 201 of file BayerCarrier.cpp.

◆ debayerHalf()

bool BayerCarrier::debayerHalf	(	yarp::sig::ImageOf< yarp::sig::PixelMono > &	src,
		yarp::sig::ImageOf< yarp::sig::PixelRgb > &	dest
	)

virtual

Definition at line 159 of file BayerCarrier.cpp.

◆ expectBlock()

bool BayerCarrier::expectBlock	(	char *	data,
		size_t	len
	)

inlineoverridevirtual

Read a block of data from the network connection.

Parameters

data	Start of the block of data
len	Length of the block of data

Returns: true on success

Implements yarp::os::ConnectionReader.

Definition at line 100 of file BayerCarrier.h.

◆ expectFloat32()

yarp::conf::float32_t BayerCarrier::expectFloat32 ( )

inlineoverridevirtual

Read a 32-bit floating point number from the network connection.

Returns: the floating point number read from the connection

Implements yarp::os::ConnectionReader.

Definition at line 128 of file BayerCarrier.h.

◆ expectFloat64()

yarp::conf::float64_t BayerCarrier::expectFloat64 ( )

inlineoverridevirtual

Read a 64-bit floating point number from the network connection.

Returns: the floating point number read from the connection

Implements yarp::os::ConnectionReader.

Definition at line 132 of file BayerCarrier.h.

◆ expectInt16()

std::int16_t BayerCarrier::expectInt16 ( )

inlineoverridevirtual

Read a 16-bit integer from the network connection.

Returns: the integer read from the connection

Implements yarp::os::ConnectionReader.

Definition at line 112 of file BayerCarrier.h.

◆ expectInt32()

std::int32_t BayerCarrier::expectInt32 ( )

inlineoverridevirtual

Read a 32-bit integer from the network connection.

Returns: the integer read from the connection

Implements yarp::os::ConnectionReader.

Definition at line 116 of file BayerCarrier.h.

◆ expectInt64()

std::int64_t BayerCarrier::expectInt64 ( )

inlineoverridevirtual

Read a 64-bit integer from the network connection.

Returns: the integer read from the connection

Implements yarp::os::ConnectionReader.

Definition at line 120 of file BayerCarrier.h.

◆ expectInt8()

std::int8_t BayerCarrier::expectInt8 ( )

inlineoverridevirtual

Read a 8-bit integer from the network connection.

Returns: the integer read from the connection

Implements yarp::os::ConnectionReader.

Definition at line 108 of file BayerCarrier.h.

◆ expectText()

std::string BayerCarrier::expectText ( const char terminatingChar = '\n' )

inlineoverridevirtual

Read some text from the network connection.

Parameters

terminatingChar The marker for the end of the text

Returns: the text read from the connection

Implements yarp::os::ConnectionReader.

Definition at line 104 of file BayerCarrier.h.

◆ flushWriter()

void BayerCarrier::flushWriter ( )

inlineoverridevirtual

Implements yarp::os::ConnectionReader.

Definition at line 199 of file BayerCarrier.h.

◆ getConnectionModifiers()

const yarp::os::Searchable & BayerCarrier::getConnectionModifiers ( ) const

inlineoverridevirtual

Access modifiers associated with the connection, if any.

Returns: connection configuration object

Implements yarp::os::ConnectionReader.

Definition at line 191 of file BayerCarrier.h.

◆ getLocalContact()

yarp::os::Contact BayerCarrier::getLocalContact ( ) const

inlineoverridevirtual

Gets information about who is receiving the data, if that information is available.

Returns: contact information about sender (Contact::invalid if not available)

Implements yarp::os::ConnectionReader.

Definition at line 171 of file BayerCarrier.h.

◆ getName()

std::string BayerCarrier::getName ( ) const

inlineoverridevirtual

Get the name of this connection type ("tcp", "mcast", "shmem", ...)

Returns: the name of this connection type

Implements yarp::os::ModifyingCarrier.

Definition at line 86 of file BayerCarrier.h.

◆ getReference()

yarp::os::Portable * BayerCarrier::getReference ( ) const

inlineoverridevirtual

Get a direct pointer to the object being sent, if possible.

This only makes sense in local operation, when sender and receiver are in the same process; in all other situations this returns nullptr.

Returns: The message object, or nullptr if not available

Implements yarp::os::ConnectionReader.

Definition at line 163 of file BayerCarrier.h.

◆ getRemoteContact()

yarp::os::Contact BayerCarrier::getRemoteContact ( ) const

inlineoverridevirtual

Gets information about who is supplying the data being read, if that information is available.

Returns: contact information about sender (Contact::invalid if not available)

Implements yarp::os::ConnectionReader.

Definition at line 167 of file BayerCarrier.h.

◆ getSize()

size_t BayerCarrier::getSize ( ) const

inlineoverridevirtual

Checks how much data is available.

Returns: the number of bytes left on the connection.

Implements yarp::os::ConnectionReader.

Definition at line 148 of file BayerCarrier.h.

◆ getWriter()

yarp::os::ConnectionWriter * BayerCarrier::getWriter ( )

inlineoverridevirtual

Gets a way to reply to the message, if possible.

Returns: An object that permits replies, or nullptr if this cannot be done.

Implements yarp::os::ConnectionReader.

Definition at line 155 of file BayerCarrier.h.

◆ isActive()

bool BayerCarrier::isActive ( ) const

inlineoverridevirtual

Check if carrier is alive and error free.

Returns: true if carrier is active.

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 179 of file BayerCarrier.h.

◆ isBareMode()

bool BayerCarrier::isBareMode ( ) const

inlineoverridevirtual

Check if carrier excludes type information from payload.

Returns: true if carrier is bare

Reimplemented from yarp::os::Connection.

Definition at line 140 of file BayerCarrier.h.

◆ isError()

bool BayerCarrier::isError ( ) const

inlineoverridevirtual

Returns: true if the reader encountered an error. Readers can encounter an error if there is some data loss. For unreliable protocols like UDP/Multicast, where losses are not unexpected, this error flag will be reset for the next incoming message.

Implements yarp::os::ConnectionReader.

Definition at line 183 of file BayerCarrier.h.

◆ isOk()

bool BayerCarrier::isOk ( ) const

inlineoverridevirtual

Check if the stream is ok or in an error state.

Returns: true iff the stream is ok

Implements yarp::os::InputStream.

Definition at line 212 of file BayerCarrier.h.

◆ isTextMode()

bool BayerCarrier::isTextMode ( ) const

inlineoverridevirtual

Check if carrier is textual in nature.

Returns: true if carrier is text-based

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 136 of file BayerCarrier.h.

◆ isValid()

bool BayerCarrier::isValid ( ) const

inlineoverridevirtual

Check if this object is really a connection, or just an empty placeholder.

Returns: true if a valid connection

Reimplemented from yarp::os::Connection.

Definition at line 175 of file BayerCarrier.h.

◆ modifyIncomingData()

yarp::os::ConnectionReader & BayerCarrier::modifyIncomingData ( yarp::os::ConnectionReader & reader )

overridevirtual

Modify incoming payload data, if appropriate.

Doesn't need to be done immediately, it is fine to hold onto a reference to the incoming data reader and use it on demand. This can be handy in order to avoid unnecessary copies.

Parameters

reader for incoming data.

Returns: reader for modified version of incoming data.

Implements yarp::os::Connection.

Definition at line 67 of file BayerCarrier.cpp.

◆ processBuffered() [1/2]

bool BayerCarrier::processBuffered ( )

virtual

Definition at line 305 of file BayerCarrier.cpp.

◆ processBuffered() [2/2]

bool BayerCarrier::processBuffered ( ) const

virtual

Definition at line 301 of file BayerCarrier.cpp.

◆ processDirect()

bool BayerCarrier::processDirect ( yarp::os::Bytes & bytes )

virtual

Definition at line 322 of file BayerCarrier.cpp.

◆ pushInt()

bool BayerCarrier::pushInt ( int x )

inlineoverridevirtual

Store an integer to return on the next call to expectInt()

Parameters

x	the integer to store

Returns: true on success

Implements yarp::os::ConnectionReader.

Definition at line 124 of file BayerCarrier.h.

◆ read()

yarp::conf::ssize_t BayerCarrier::read ( yarp::os::Bytes & b )

overridevirtual

Read a block of data from the stream.

Should block and wait for data.

Parameters

b[out] the block of data to read to

Returns: the number of bytes read, or -1 upon error

Implements yarp::os::InputStream.

Definition at line 340 of file BayerCarrier.cpp.

◆ readEnvelope()

yarp::os::Bytes BayerCarrier::readEnvelope ( )

inlineoverridevirtual

Read a message envelope, if available.

Reimplemented from yarp::os::ConnectionReader.

Definition at line 159 of file BayerCarrier.h.

◆ requestDrop()

void BayerCarrier::requestDrop ( )

inlineoverridevirtual

Tag the connection to be dropped after the current message.

Implements yarp::os::ConnectionReader.

Definition at line 187 of file BayerCarrier.h.

◆ setParent()

void BayerCarrier::setParent ( yarp::os::ConnectionReader & reader )

inline

Definition at line 219 of file BayerCarrier.h.

◆ setSize()

bool BayerCarrier::setSize ( size_t len )

inlineoverridevirtual

Implements yarp::os::ConnectionReader.

Definition at line 195 of file BayerCarrier.h.

◆ toString()

std::string BayerCarrier::toString ( ) const

inlineoverridevirtual

Get name of carrier.

Returns: name of carrier.

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 90 of file BayerCarrier.h.

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

src/carriers/bayer_carrier/BayerCarrier.h
src/carriers/bayer_carrier/BayerCarrier.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BayerCarrier()

◆ ~BayerCarrier()

Member Function Documentation

◆ close()

◆ convertTextMode()

◆ create()

◆ debayerFull()

◆ debayerHalf()

◆ expectBlock()

◆ expectFloat32()

◆ expectFloat64()

◆ expectInt16()

◆ expectInt32()

◆ expectInt64()

◆ expectInt8()

◆ expectText()

◆ flushWriter()

◆ getConnectionModifiers()

◆ getLocalContact()

◆ getName()

◆ getReference()

◆ getRemoteContact()

◆ getSize()

◆ getWriter()

◆ isActive()

◆ isBareMode()

◆ isError()

◆ isOk()

◆ isTextMode()

◆ isValid()

◆ modifyIncomingData()

◆ processBuffered() [1/2]

◆ processBuffered() [2/2]

◆ processDirect()

◆ pushInt()

◆ read()

◆ readEnvelope()

◆ requestDrop()

◆ setParent()

◆ setSize()

◆ toString()