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/*
* roombacomm.WatchVideo -- test out the video subsystem without robot motion
*
* Copyright (c) 2009 Paul Bouchier, bouchier@at@classicnet.net
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library 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
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General
* Public License along with this library; if not, write to the
* Free Software Foundation, Inc., 59 Temple Place, Suite 330,
* Boston, MA 02111-1307 USA
*
*/
package com.hackingroomba.roombacomm;
import jargs.gnu.CmdLineParser;
import java.io.*;
/**
Run it with something like: <pre>
java roombacomm.WatchVideo --videoServer 192.168.0.150 --videoPortNum 5005 -x 160 -y 120 --debug<br>
Usage:
roombacomm.WatchVideo --videoServer <IP> --videoPortNum <port>
-x <image X size> -y <image Y size> [options]<br>
where
[options] can be one or more of:
-debug -- turn on debug output
-hwhandshake -- use hardware-handshaking, for Windows Bluetooth
-nohwhandshake -- don't use hardware-handshaking
</pre>
*/
public class watchVideo {
private int height = 120;
private int width = 160;
String usage =
"Usage: \n"+
" roombacomm.Roborama --videoServer <IP> --videoPortNum <port> -x <image X size> -y <image Y size>[options]\n" +
"where [options] can be one or more of:\n"+
" -X | --debug -- turn on debug output\n"+
" -x <width> or --width <width>: set width\n" +
" -y <height> or --height <height> -- set height\n" +
" -c | --color -- use color mode, otherwise grayscale\n" +
" --videoserver <IP> : set IP address of video server\n" +
" --videoPortNum <port> : set port number on video server\n" +
" -t | --threshold <threshold> : set quantization threshold\n" +
" -R | --RoboRealm : connect to Roborealm & send image to it\n" +
" -hwhandshake -- use hardware-handshaking, for Windows Bluetooth\n";
boolean debug = false;
private int waittime;
private int thresholdOverride = 0;
private String videoServer = "";
private int videoPortNum = 5005 ;
private int videoRowStart = 50;
private int videoRowEnd = 54;
private int pixelCnt;
private boolean color = false; // when true, capture images in color
private boolean roborealm = false; // when true, connect & send images to RoboRealm
FrameProcessor fp;
public watchVideo() {
// constructor, mustn't throw exceptions. Do nothing for now
}
// main - it all starts here
public static void main(String[] args) {
watchVideo b = new watchVideo();
b.parseCmd(args);
b.initVideo();
b.displayVideo();
}
public void displayVideo()
{
while (true) {
getShowFrame();
if (roborealm) {
Boolean rv = fp.frame2Roborealm();
if (rv == false)
System.out.println("error sending image to Roborealm");
//fp.getShapeData();
}
}
//frameSize = fp.readFrame();
//System.out.println("getVideo read " + frameSize + " bytes");
//fp.disconnect();
}
/**
* Get a frame from the video server and display it
*/
public void getShowFrame() {
pixelCnt = fp.readFrame(getWidth(), getHeight(), color?1:0);
if (pixelCnt != (getWidth() * getHeight())) {
System.out.println("getVideo read " + pixelCnt + " bytes - abandoning frame");
return;
}
// output the frame to wherever it's wanted
fp.displayFrame();
return;
}
/**
* Connect to the video server, and to RoboRealm if requested
*/
public FrameProcessor initVideo() {
if (getVideoServer() == null || getVideoServer().length() == 0) {
System.err.println(" you must supply a --videoServer value to use the command \"getVideo\"");
if (getVideoPortNum() <= 0) {
System.err.println(" you must supply a --videoPortNum value to use the command \"getVideo\"");
}
System.exit(6);
}
if (getVideoPortNum() <= 0) {
System.err.println(" you must supply a --videoPortNum value to use the command \"getVideo\"");
System.exit(7);
}
fp = new FrameProcessor(getVideoServer(),getVideoPortNum(), 0, 0, 0, 0, getThresholdOverride());
//fp.testQuantization();
fp.createAndShowGUI();
fp.connect(roborealm); // connect to the video server, and to Roborealm too if requested
return fp;
}
public void parseCmd(String[] args){
System.out.println("*** start of WatchVideo WparseCmd");
CmdLineParser parser = new CmdLineParser();
CmdLineParser.Option debugOption = parser.addBooleanOption('X', "debug");
// CmdLineParser.Option verboseOption = parser.addBooleanOption('W', "Verbose");
CmdLineParser.Option widthOption = parser.addIntegerOption('x', "width");
CmdLineParser.Option heightOption = parser.addIntegerOption('y', "height");
CmdLineParser.Option videoServerOption = parser.addStringOption("videoServer");
CmdLineParser.Option videoPortNumOption = parser.addIntegerOption("videoPortNum");
CmdLineParser.Option thresholdOption = parser.addIntegerOption('t', "threshold");
CmdLineParser.Option hwHandShakeOption = parser.addBooleanOption("nohwhandshake");
CmdLineParser.Option colorOption = parser.addBooleanOption('c', "color");
CmdLineParser.Option roborealmOption = parser.addBooleanOption('R', "roborealm");
try {
parser.parse(args);
}
catch ( CmdLineParser.OptionException e ) {
System.err.println(e.getMessage());
System.out.println("parseCmd had an error\n"+ usage );
System.exit(2);
}
// String portname = args[0]; // e.g. "/dev/cu.KeySerial1", or "COM5" or "192.168.1.1"
setThresholdOverride(((Integer)parser.getOptionValue(thresholdOption, getThresholdOverride())).intValue());
setWidth(((Integer)parser.getOptionValue(widthOption,getWidth())).intValue());
setHeight(((Integer)parser.getOptionValue(heightOption,getHeight())).intValue());
setVideoServer(((String)parser.getOptionValue(videoServerOption)));
setVideoPortNum(((Integer)parser.getOptionValue(videoPortNumOption, getVideoPortNum())).intValue());
// String cmd = args[1+argOffset];
Boolean debugBool = (Boolean)parser.getOptionValue(debugOption,new Boolean(false));
setDebug(debugBool.booleanValue());
System.out.println("debug is ("+isDebug()+")");
Boolean hwHandShakeBool = (Boolean)parser.getOptionValue(hwHandShakeOption, new Boolean(false));
setThresholdOverride((Integer)parser.getOptionValue(thresholdOption, new Integer(0)));
System.out.println("thresholdOverride is " + getThresholdOverride());
color = (Boolean)parser.getOptionValue(colorOption, new Boolean(false));
roborealm = (Boolean)parser.getOptionValue(roborealmOption, new Boolean(false));
System.out.println("color mode is " + color + ", roborealm mode is " + roborealm);
System.out.println("*** end of parseCmd");
}
public boolean isDebug() {
return debug;
}
public void setDebug(boolean debug_) {
debug = debug_;
}
public int getWaittime() {
return waittime;
}
public void setWaittime(int waittime_) {
waittime = waittime_;
}
public int getThresholdOverride() {
return thresholdOverride;
}
public void setThresholdOverride(int thresholdOverride) {
this.thresholdOverride = thresholdOverride;
}
protected int getHeight() {
return height;
}
protected void setHeight(int height) {
this.height = height;
}
protected int getWidth() {
return width;
}
protected void setWidth(int width) {
this.width = width;
}
/**
* @return the videoServer
*/
protected String getVideoServer() {
return videoServer;
}
/**
* @param videoServer the videoServer to set
*/
protected void setVideoServer(String videoServer) {
this.videoServer = videoServer;
}
/**
* @return the videoPortNum
*/
protected int getVideoPortNum() {
return videoPortNum;
}
/**
* @param videoPortNum the videoPortNum to set
*/
protected void setVideoPortNum(int videoPortNum) {
this.videoPortNum = videoPortNum;
}
public boolean isColor() {
return color;
}
public void setColor(boolean color) {
this.color = color;
}
public boolean isRoborealm() {
return roborealm;
}
public void setRoborealm(boolean roborealm) {
this.roborealm = roborealm;
}
}
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