.. _WRP Definition:
Workswell Remote Protocol (WRP)
-------------------------------
State diagram of WRP is following:
.. raw:: html
Black arrows are events trigggered by the client, red ones comes from the server.
Message is composed of header, that specifies message type, payload length and payload.
Messages are:
+-------------------------------+---------------+-------------------+-----------------------------------------------+
| Type | Type value | Payload size | Payload |
+===============================+===============+===================+===============================================+
| INVALID | 0 | 0 | |
+-------------------------------+---------------+-------------------+-----------------------------------------------+
| OK | 1 | 0 | |
+-------------------------------+---------------+-------------------+-----------------------------------------------+
| ERROR | 2 | 1 | Error code |
+-------------------------------+---------------+-------------------+-----------------------------------------------+
| GET_CAMERA_LIST | 3 | 0 | |
+-------------------------------+---------------+-------------------+-----------------------------------------------+
| CAMERA_LIST | 4 | variable | XML with listed cameras |
+-------------------------------+---------------+-------------------+-----------------------------------------------+
| OPEN_CAMERA | 5 | variable | Serial no. of camera |
+-------------------------------+---------------+-------------------+-----------------------------------------------+
| CLOSE_CAMERA | 6 | 0 | |
+-------------------------------+---------------+-------------------+-----------------------------------------------+
| GET_FRAME | 7 | 0 | |
+-------------------------------+---------------+-------------------+-----------------------------------------------+
| FRAME | 8 | variable | Frame no., Timestamp, Height, Width, Frame |
+-------------------------------+---------------+-------------------+-----------------------------------------------+
| START_CONTINUOUS_GRABBING | 9 | 0 | |
+-------------------------------+---------------+-------------------+-----------------------------------------------+
| STOP_CONTINUOUS_GRABBING | 10 | 0 | |
+-------------------------------+---------------+-------------------+-----------------------------------------------+
| ACK_CONTINUOUS_GRABBING | 11 | 5 | Frame no. |
+-------------------------------+---------------+-------------------+-----------------------------------------------+
Payload content datatypes:
+-------------------------------+---------------------------+
| Name | Datatype |
+===============================+===========================+
| Error code | uint8 |
+-------------------------------+---------------------------+
| XML with listed cameras | string |
+-------------------------------+---------------------------+
| Serial no. of cameras | string |
+-------------------------------+---------------------------+
| Camera ID | uint8 |
+-------------------------------+---------------------------+
| Frame no. | uint32 |
+-------------------------------+---------------------------+
| Timestamp | uint64 |
+-------------------------------+---------------------------+
| Height | uint16 |
+-------------------------------+---------------------------+
| Width | uint16 |
+-------------------------------+---------------------------+
| Frame | array of 32-bit float |
+-------------------------------+---------------------------+
Error codes are:
+---------------------------+---------------+
| Code | Code value |
+===========================+===============+
| UNEXPECTED_MESSAGE | 0 |
+---------------------------+---------------+
| CAMERA_NOT_FOUND | 1 |
+---------------------------+---------------+
| CAMERA_NOT_RESPONDING | 2 |
+---------------------------+---------------+
| CAMERA_NOT_OPEN | 3 |
+---------------------------+---------------+
| CAMERA_NOT_CONNECTED | 4 |
+---------------------------+---------------+
| CAMERA_NOT_ACQUIRING | 5 |
+---------------------------+---------------+