/////////////////////////////// Image processing //////////////////////////////
// Performs the image conversion/processing/etc that you want to perform
void ProcessImage(ImageDataType imageData)
{
byte[] pixels = imageData.pixels;
int width = imageData.width;
int height = imageData.height;
int i;
// remember that we're working in BGR color ... so the actual width is 3x
int w = width * 3;
byte tmp;
// sanity check
if ((pixels == null) || (width == 0) || (height == 0))
{
return;
}
// you could use imageData.getName() to perform different analysis in the same
// program ....
// as an example ... swap red and blue values
for (i = 0; i < w * height; i += 3)
{
// normal image format is BGR ... first byte is blue
tmp = pixels[i];
// swap red and blue
pixels[i] = pixels[i + 2];
pixels[i + 2] = tmp;
}
// note this this is an inplace filter so you don't need an additional image array
// but you've now corrupted the original image ...
}
/////////////////////////////// Main //////////////////////////////////////////
// This method will be called when the thread is started.
public void run()
{
// holds the variable name being sent by RR
string varName;
// holds the received and prehaps processed image data
byte[] varData = new byte[DATA_BUFFER];
// byte array for incoming integer number
byte[] number = new byte[4];
IPAddress myIp = IPAddress.Parse("127.0.0.1");
IPEndPoint ipEnd = new IPEndPoint(myIp, SERVER_PORTNUM);
Socket server = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
server.Bind(ipEnd);
Console.WriteLine("RoboRealm Java Socket Server v0.0.1 Listening On Port "+SERVER_PORTNUM+"....\n");
ImageDataType imageData = new ImageDataType();
while (isRunning)
{
Console.WriteLine("Waiting ...\n");
server.Listen(10);
Socket client = server.Accept();
Console.WriteLine("Connected.\n");
client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.SendTimeout, TIMEOUT);
client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReceiveTimeout, TIMEOUT);
NetworkStream networkStream = new NetworkStream(client);
BinaryWriter binaryWriter = new BinaryWriter(networkStream);
BinaryReader binaryReader = new BinaryReader(networkStream);
imageData.count=0;
int len=0;
while (true)
{
imageData.count++;
// *1* Comment the next line out after debugging is done!!
Console.WriteLine("Processing "+imageData.count+"\r");
try
{
while (true)
{
// read in variable length
binaryReader.Read(number, 0, 4);
len = byteToInt(number);
// if length <=0 on the variable name then we're done
if (len<=0) break;
// read in variable name but if the name is longer than 64 characters
// then grab the first 64 chars only
byte[] varNameChar = new byte[len];
binaryReader.Read(varNameChar, 0, len);
varName = System.Text.Encoding.ASCII.GetString(varNameChar);
// read in the variable's data length
binaryReader.Read(number, 0, 4);
len = byteToInt(number);
// if the data is less than 1024 read it in now ..
if (len<DATA_BUFFER)
{
binaryReader.Read(varData, 0, len);
}
// handle this variable
if (ProcessVariable(binaryWriter, binaryReader, imageData, varName, varData, len)<0)
{
len=-1;
break;
}
}
//Done collecting variables.
// termination signal -1 on attribute length
if (len==-1) break;
// process image
ProcessImage(imageData);
//Returning variables.
// Write out the processed image back to RoboRealm using stdout.
// You can also write back any other variables to use in
// other parts of the program.
// The format is the same as the input.
ReturnBytesVariable(binaryWriter, "image", imageData.pixels, imageData.width*imageData.height*3);
//Returned image;
// Send back the count as an example of how to feed back variables into RoboRealm
ReturnIntVariable(binaryWriter, "count", imageData.count);
// write out end of message
binaryWriter.Write(intToByte(0));
// flush all data back to RR
binaryWriter.Flush();
// continue by waiting for next image request
}
catch (Exception e)
{
//ignore any timeout errors by closing connection and restarting
//Console.WriteLine("Caught exception " + e.ToString() + "\n" + e.StackTrace);
break;
};
}
Console.WriteLine("\nDisconnected.\n");
binaryReader.Close();
binaryWriter.Close();
client.Close();
if (len==-1) break;
}
}
// Parses the variables sent by RR into the appropriate structure. You can add
// your own processing routines here to handle other variables that may get sent.
int ProcessVariable(BinaryWriter writer, BinaryReader reader, ImageDataType imageData, string name, byte[] data, int len)
{
name = name.ToLower();
// determine what we've got
if (name.Equals("name"))
{
imageData.name = name;
}
else
// determine what we've got
if (name.Equals("width"))
{
imageData.width = byteToInt(data);
}
else
if (name.Equals("height"))
{
imageData.height = byteToInt(data);
}
else
if (name.Equals("image"))
{
if ((imageData.width==0)||(imageData.height==0))
{
ReturnError(writer, "Error - missing image dimensions before image data!");
Console.WriteLine("Error - missing image dimensions before image data!");
return -1;
}
if (len!=(imageData.width*imageData.height*3))
{
ReturnError(writer, "Error - length of data and dimensions of image\n disagree! (width:"+imageData.width+" height:"+imageData.height+" len:"+len+")\n");
Console.WriteLine("Error - length of data and dimensions of image\n disagree! (width:"+imageData.width+" height:"+imageData.height+" len:"+len+")\n");
return -1;
}
// we only need to allocate once! The program will remain
// active for as long as processing continues ...
if (imageData.pixels==null)
{
imageData.pixels = new byte[len];
imageData.allocLen = len;
}
else
{
// but we need to check to see if the image size has changed that we have
// enough room to load it in
if (imageData.allocLen<len)
{
imageData.pixels = new byte[len];
imageData.allocLen = len;
}
}
// we did not read in the image data yet since it is always > 1024 ..
int res;
if ((res=readBytes(imageData.pixels, reader, len))!=len)
{
Console.WriteLine("Error - read failed. Wanted "+len+" bytes but got "+res+"\n");
return -1;
}
}
else
{
// skip this variable
if (len>DATA_BUFFER)
{
while (len > 0)
{
reader.Read();
len--;
}
}
}
return 1;
}
/////////////////////////////// Image processing //////////////////////////////
// Performs the image conversion/processing/etc that you want to perform
void ProcessImage(ImageDataType imageData)
{
byte[] pixels = imageData.pixels;
int width = imageData.width;
int height = imageData.height;
int i;
// remember that we're working in BGR color ... so the actual width is 3x
int w=width*3;
byte tmp;
// sanity check
if ((pixels==null)||(width==0)||(height==0)) return;
// you could use imageData.getName() to perform different analysis in the same
// program ....
// as an example ... swap red and blue values
for (i=0;i<w*height;i+=3)
{
// normal image format is BGR ... first byte is blue
tmp = pixels[i];
// swap red and blue
pixels[i] = pixels[i+2];
pixels[i+2] = tmp;
}
// note this this is an inplace filter so you don't need an additional image array
// but you've now corrupted the original image ...
}
/////////////////////////////// Main //////////////////////////////////////////
// This method will be called when the thread is started.
public void run()
{
// holds the variable name being sent by RR
string varName;
// holds the received and prehaps processed image data
byte[] varData = new byte[DATA_BUFFER];
// byte array for incoming integer number
byte[] number = new byte[4];
IPAddress myIp = IPAddress.Parse("127.0.0.1");
IPEndPoint ipEnd = new IPEndPoint(myIp, SERVER_PORTNUM);
Socket server = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
server.Bind(ipEnd);
Console.WriteLine("RoboRealm Java Socket Server v0.0.1 Listening On Port " + SERVER_PORTNUM + "....\n");
ImageDataType imageData = new ImageDataType();
while (isRunning)
{
Console.WriteLine("Waiting ...\n");
server.Listen(10);
Socket client = server.Accept();
Console.WriteLine("Connected.\n");
client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.SendTimeout, TIMEOUT);
client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReceiveTimeout, TIMEOUT);
NetworkStream networkStream = new NetworkStream(client);
BinaryWriter binaryWriter = new BinaryWriter(networkStream);
BinaryReader binaryReader = new BinaryReader(networkStream);
imageData.count = 0;
int len = 0;
while (true)
{
imageData.count++;
// *1* Comment the next line out after debugging is done!!
Console.WriteLine("Processing " + imageData.count + "\r");
try
{
while (true)
{
// read in variable length
binaryReader.Read(number, 0, 4);
len = byteToInt(number);
// if length <=0 on the variable name then we're done
if (len <= 0)
{
break;
}
// read in variable name but if the name is longer than 64 characters
// then grab the first 64 chars only
byte[] varNameChar = new byte[len];
binaryReader.Read(varNameChar, 0, len);
varName = System.Text.Encoding.ASCII.GetString(varNameChar);
// read in the variable's data length
binaryReader.Read(number, 0, 4);
len = byteToInt(number);
// if the data is less than 1024 read it in now ..
if (len < DATA_BUFFER)
{
binaryReader.Read(varData, 0, len);
}
// handle this variable
if (ProcessVariable(binaryWriter, binaryReader, imageData, varName, varData, len) < 0)
{
len = -1;
break;
}
}
//Done collecting variables.
// termination signal -1 on attribute length
if (len == -1)
{
break;
}
// process image
ProcessImage(imageData);
//Returning variables.
// Write out the processed image back to RoboRealm using stdout.
// You can also write back any other variables to use in
// other parts of the program.
// The format is the same as the input.
ReturnBytesVariable(binaryWriter, "image", imageData.pixels, imageData.width * imageData.height * 3);
//Returned image;
// Send back the count as an example of how to feed back variables into RoboRealm
ReturnIntVariable(binaryWriter, "count", imageData.count);
// write out end of message
binaryWriter.Write(intToByte(0));
// flush all data back to RR
binaryWriter.Flush();
// continue by waiting for next image request
}
catch (Exception e)
{
//ignore any timeout errors by closing connection and restarting
//Console.WriteLine("Caught exception " + e.ToString() + "\n" + e.StackTrace);
break;
};
}
Console.WriteLine("\nDisconnected.\n");
binaryReader.Close();
binaryWriter.Close();
client.Close();
if (len == -1)
{
break;
}
}
}
// Parses the variables sent by RR into the appropriate structure. You can add
// your own processing routines here to handle other variables that may get sent.
int ProcessVariable(BinaryWriter writer, BinaryReader reader, ImageDataType imageData, string name, byte[] data, int len)
{
name = name.ToLower();
// determine what we've got
if (name.Equals("name"))
{
imageData.name = name;
}
else
// determine what we've got
if (name.Equals("width"))
{
imageData.width = byteToInt(data);
}
else
if (name.Equals("height"))
{
imageData.height = byteToInt(data);
}
else
if (name.Equals("image"))
{
if ((imageData.width == 0) || (imageData.height == 0))
{
ReturnError(writer, "Error - missing image dimensions before image data!");
Console.WriteLine("Error - missing image dimensions before image data!");
return(-1);
}
if (len != (imageData.width * imageData.height * 3))
{
ReturnError(writer, "Error - length of data and dimensions of image\n disagree! (width:" + imageData.width + " height:" + imageData.height + " len:" + len + ")\n");
Console.WriteLine("Error - length of data and dimensions of image\n disagree! (width:" + imageData.width + " height:" + imageData.height + " len:" + len + ")\n");
return(-1);
}
// we only need to allocate once! The program will remain
// active for as long as processing continues ...
if (imageData.pixels == null)
{
imageData.pixels = new byte[len];
imageData.allocLen = len;
}
else
{
// but we need to check to see if the image size has changed that we have
// enough room to load it in
if (imageData.allocLen < len)
{
imageData.pixels = new byte[len];
imageData.allocLen = len;
}
}
// we did not read in the image data yet since it is always > 1024 ..
int res;
if ((res = readBytes(imageData.pixels, reader, len)) != len)
{
Console.WriteLine("Error - read failed. Wanted " + len + " bytes but got " + res + "\n");
return(-1);
}
}
else
{
// skip this variable
if (len > DATA_BUFFER)
{
while (len > 0)
{
reader.Read();
len--;
}
}
}
return(1);
}
