A carrier for receiving frames compressed in h264 over rtp. More...

#include <h264_carrier/H264Carrier.h>

Inheritance diagram for H264Carrier:

Public Member Functions
	H264Carrier ()

Carrier *	create () const override
	Factory method. More...

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

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

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

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

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

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

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

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

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

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

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

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

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. More...

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. More...

void	setParameters (const yarp::os::Bytes &header) override
	Configure this carrier based on the first 8 bytes of the connection. More...

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

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

bool	expectSenderSpecifier (yarp::os::ConnectionState &proto) override
	Expect the name of the sending port. More...

bool	expectExtraHeader (yarp::os::ConnectionState &proto) override
	Receive any carrier-specific header. More...

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

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

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

bool	write (yarp::os::ConnectionState &proto, yarp::os::SizedWriter &writer) override
	Write a message. More...

bool	reply (yarp::os::ConnectionState &proto, yarp::os::SizedWriter &writer) override

virtual bool	sendIndex (yarp::os::ConnectionState &proto, yarp::os::SizedWriter &writer)

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

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

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

std::string	getBootstrapCarrierName () const override
	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. More...

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

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

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

virtual void	close ()
	Close the carrier. More...

virtual	~Carrier ()
	Destructor. More...

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

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

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

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

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

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

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

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

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

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

virtual bool	configureFromProperty (yarp::os::Property &options)

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

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

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

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

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

Detailed Description

A carrier for receiving frames compressed in h264 over rtp.

This carrier uses gstreamer libraries (libgstreamer1.0-dev and libgstreamer-plugins-base1.0-dev) to read rtp packets and to decode the h264 stream.

Use this carrier in the following way:

suppose there is a server that streams video frames to IP x.x.x.x and to port p: register this port to yarp by yarp command "yarp name register" in this way: yarp name register /serverH264Stream h264 x.x.x.x p
you need to connect your client port (for example /yarpview/img:i ) to /serverH264Stream port by h264 carrier to get the video stream: yarp connect /serverH264Stream /yarpview/img:i h264 You can configure the carrier to crop frames by passing parameters to the carrier with usual syntax: +pramName.paramValue:
- +cropLeft.100 ==> the carrier crops 100 pxel from left side
- +cropRight.100 ==> the carrier crops 100 pxel from right side
- +cropTop.100 ==> the carrier crops 100 pxel from top side
- +cropBottom.100 ==> the carrier crops 100 pxel from bottom side
- +removeJitter.1 ==> the carrier removes the jitter. If you put 0, the jitter is not removed (default behaviour).
- +verbose.1 ==> enables verbose mode (default is not verbose) (+verbose.0 disables it.)

Definition at line 36 of file H264Carrier.h.

Constructor & Destructor Documentation

◆ H264Carrier()

H264Carrier::H264Carrier ( )

inline

Definition at line 43 of file H264Carrier.h.

Member Function Documentation

◆ canAccept()

bool H264Carrier::canAccept ( ) const

overridevirtual

Check if reading is implemented for this carrier.

Returns: true if carrier can read messages

Implements yarp::os::Carrier.

Definition at line 34 of file H264Carrier.cpp.

◆ canEscape()

bool H264Carrier::canEscape ( ) const

overridevirtual

Check if carrier can encode administrative messages, as opposed to just user data.

The word escape is used in the sense of escape character or escape sequence here.

Returns: true if carrier can encode administrative messages

Implements yarp::os::Carrier.

Definition at line 49 of file H264Carrier.cpp.

◆ canOffer()

bool H264Carrier::canOffer ( ) const

overridevirtual

Check if writing is implemented for this carrier.

Returns: true if carrier can write messages

Implements yarp::os::Carrier.

Definition at line 39 of file H264Carrier.cpp.

◆ checkHeader()

bool H264Carrier::checkHeader ( const yarp::os::Bytes & header )

overridevirtual

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.

For example the "text" carrier looks for the 8-byte sequence "CONNECT ". See the YARP protocol documentation for all the sequences in use here. In general you are free to add your own.

Parameters

header a buffer holding the first 8 bytes received on the connection

Returns: true if this is the carrier to use.

Implements yarp::os::Carrier.

Definition at line 89 of file H264Carrier.cpp.

◆ create()

Carrier* H264Carrier::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::Carrier.

Definition at line 46 of file H264Carrier.h.

◆ createFace()

yarp::os::Face * H264Carrier::createFace ( ) const

overridevirtual

Create new Face object that the carrier needs.

Reimplemented from yarp::os::Carrier.

Definition at line 220 of file H264Carrier.cpp.

◆ expectAck()

bool H264Carrier::expectAck ( yarp::os::ConnectionState & proto )

overridevirtual

Receive an acknowledgement, if expected for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 210 of file H264Carrier.cpp.

◆ expectExtraHeader()

bool H264Carrier::expectExtraHeader ( yarp::os::ConnectionState & proto )

overridevirtual

Receive any carrier-specific header.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 143 of file H264Carrier.cpp.

◆ expectIndex()

bool H264Carrier::expectIndex ( yarp::os::ConnectionState & proto )

overridevirtual

Expect a message header, if there is one for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 200 of file H264Carrier.cpp.

◆ expectReplyToHeader()

bool H264Carrier::expectReplyToHeader ( yarp::os::ConnectionState & proto )

overridevirtual

Process reply to header, if one is expected for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 155 of file H264Carrier.cpp.

◆ expectSenderSpecifier()

bool H264Carrier::expectSenderSpecifier ( yarp::os::ConnectionState & proto )

overridevirtual

Expect the name of the sending port.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 137 of file H264Carrier.cpp.

◆ getBootstrapCarrierName()

std::string H264Carrier::getBootstrapCarrierName ( ) const

overridevirtual

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.

Normally, this should be "tcp".

For carriers intended to interoperate with foreign ports not capable of initiating streams, the bootstrap carrier name should be left blank. YARP may use that fact to arrange for alternate methods of initiating a stream.

Returns: the name of the bootstrap carrier.

Reimplemented from yarp::os::Carrier.

Definition at line 215 of file H264Carrier.cpp.

◆ getHeader()

void H264Carrier::getHeader ( yarp::os::Bytes & header ) const

overridevirtual

Provide 8 bytes describing this connection sufficiently to allow the other side of a connection to select it.

Parameters

header a buffer to hold the first 8 bytes to send on a connection

Implements yarp::os::Carrier.

Definition at line 85 of file H264Carrier.cpp.

◆ getName()

std::string H264Carrier::getName ( ) const

overridevirtual

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

Returns: the name of this connection type

Implements yarp::os::Connection.

Definition at line 24 of file H264Carrier.cpp.

◆ handleEnvelope()

void H264Carrier::handleEnvelope ( const std::string & envelope )

overridevirtual

Carriers that do not distinguish data from administrative headers (i.e.

canEscape returns false), can overload this method to handle the envelope inside the stream. On the receiving side, the InputStream will have to overload the yarp::os::InputStream::setReadEnvelopeCallback method, and execute the callback as soon as the envelope is ready.

Parameters

envelope the envelope to transmit bundled with data.

Reimplemented from yarp::os::Carrier.

Definition at line 54 of file H264Carrier.cpp.

◆ isActive()

bool H264Carrier::isActive ( ) const

overridevirtual

Check if carrier is alive and error free.

Returns: true if carrier is active.

Implements yarp::os::Carrier.

Definition at line 179 of file H264Carrier.cpp.

◆ isConnectionless()

bool H264Carrier::isConnectionless ( ) const

overridevirtual

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

This flag is used by YARP to determine whether the connection can carry RPC traffic, that is, messages with replies. Replies are not supported by YARP on connectionless carriers.

Returns: true if carrier is connectionless

Implements yarp::os::Carrier.

Definition at line 29 of file H264Carrier.cpp.

◆ isLocal()

bool H264Carrier::isLocal ( ) const

overridevirtual

Check if carrier operates within a single process.

In such a case, YARP connections may get completely reorganized in order to optimize them.

Returns: true if carrier will only operate within a single process

Implements yarp::os::Carrier.

Definition at line 69 of file H264Carrier.cpp.

◆ isPush()

bool H264Carrier::isPush ( ) const

overridevirtual

Check if carrier is "push" or "pull" style.

Push means that the side that initiates a connection is also the one that will sending of data or commands. All native YARP connections are like this. A "pull" style is equivalent to automatically sending a "reverse connection" port command at the start of the connection.

Returns: true if carrier is "push" style, false if "pull" style

Reimplemented from yarp::os::Carrier.

Definition at line 75 of file H264Carrier.cpp.

◆ isTextMode()

bool H264Carrier::isTextMode ( ) const

overridevirtual

Check if carrier is textual in nature.

Returns: true if carrier is text-based

Implements yarp::os::Carrier.

Definition at line 44 of file H264Carrier.cpp.

◆ prepareSend()

bool H264Carrier::prepareSend ( yarp::os::ConnectionState & proto )

overridevirtual

Perform any initialization needed before writing on a connection.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 117 of file H264Carrier.cpp.

◆ reply()

bool H264Carrier::reply	(	yarp::os::ConnectionState &	proto,
		yarp::os::SizedWriter &	writer
	)

overridevirtual

Reimplemented from yarp::os::Carrier.

Definition at line 190 of file H264Carrier.cpp.

◆ requireAck()

bool H264Carrier::requireAck ( ) const

overridevirtual

Check if carrier has flow control, requiring sent messages to be acknowledged by recipient.

Returns: true if carrier requires acknowledgement.

Implements yarp::os::Carrier.

Definition at line 59 of file H264Carrier.cpp.

◆ respondToHeader()

bool H264Carrier::respondToHeader ( yarp::os::ConnectionState & proto )

overridevirtual

Respond to the header.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 149 of file H264Carrier.cpp.

◆ sendAck()

bool H264Carrier::sendAck ( yarp::os::ConnectionState & proto )

overridevirtual

Send an acknowledgement, if needed for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 205 of file H264Carrier.cpp.

◆ sendHeader()

bool H264Carrier::sendHeader ( yarp::os::ConnectionState & proto )

overridevirtual

Write a header appropriate to the carrier to the connection, followed by any carrier-specific data.

Must communicate at least the name of the originating port, if there is one.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 131 of file H264Carrier.cpp.

◆ sendIndex()

bool H264Carrier::sendIndex	(	yarp::os::ConnectionState &	proto,
		yarp::os::SizedWriter &	writer
	)

virtual

Definition at line 195 of file H264Carrier.cpp.

◆ setParameters()

void H264Carrier::setParameters ( const yarp::os::Bytes & header )

overridevirtual

Configure this carrier based on the first 8 bytes of the connection.

This will only be called if checkHeader passed.

Parameters

header a buffer holding the first 8 bytes received on the connection

Implements yarp::os::Carrier.

Definition at line 94 of file H264Carrier.cpp.

◆ supportReply()

bool H264Carrier::supportReply ( ) const

overridevirtual

This flag is used by YARP to determine whether the connection can carry RPC traffic, that is, messages with replies.

Returns: true if carrier supports replies

Implements yarp::os::Carrier.

Definition at line 64 of file H264Carrier.cpp.

◆ toString()

std::string H264Carrier::toString ( ) const

overridevirtual

Get name of carrier.

Returns: name of carrier.

Implements yarp::os::Carrier.

Definition at line 80 of file H264Carrier.cpp.

◆ write()

bool H264Carrier::write	(	yarp::os::ConnectionState &	proto,
		yarp::os::SizedWriter &	writer
	)

overridevirtual

Write a message.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 184 of file H264Carrier.cpp.

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

src/carriers/h264_carrier/H264Carrier.h
src/carriers/h264_carrier/H264Carrier.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ H264Carrier()

Member Function Documentation

◆ canAccept()

◆ canEscape()

◆ canOffer()

◆ checkHeader()

◆ create()

◆ createFace()

◆ expectAck()

◆ expectExtraHeader()

◆ expectIndex()

◆ expectReplyToHeader()

◆ expectSenderSpecifier()

◆ getBootstrapCarrierName()

◆ getHeader()

◆ getName()

◆ handleEnvelope()

◆ isActive()

◆ isConnectionless()

◆ isLocal()

◆ isPush()

◆ isTextMode()

◆ prepareSend()

◆ reply()

◆ requireAck()

◆ respondToHeader()

◆ sendAck()

◆ sendHeader()

◆ sendIndex()

◆ setParameters()

◆ supportReply()

◆ toString()

◆ write()