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E V O L V I N G T A K A G I - S U G E N O F U Z Z Y S Y S T E M S FR OM ST R E A M I N G D A T A ( e T S )

scenarios but is rarely used in contemporary streaming multimedia delivery. RTP is also capable of transporting encrypted media; however, the key generation and distribution is out of scope of RTP. RTCP speci es periodic transmission of control packets to all the participants in a session. It serves four main functions: 1. Feedback on quality of reception of data through RTCP sender and receiver reports. 2. Carrying a persistent transport level identi er for RTP source. This identi er is called canonical (CNAME), this is very helpful in multimedia scenarios where a RTP source may contribute more than one streams. Such as when transmitting audio/video streams of a conversation, the common CNAME for the individual SSRC allows the receiver to recognize these streams as associated, indicating need for synchronization (e.g., for lip-synchronization). 3. Rate control for RTCP messages. The number of RTCP messages generated can quickly get out of control in a conference with large number of participants. This functionality allows the participants to control the rate of RTCP reports. 4. Session control information for loosely controlled sessions, where, participants may join and leave without strict membership control. However, streaming multimedia sessions are often tightly controlled and complete session control information is established via separate session control protocols such as RTSP and RTCP, allowing only loose control within the parameters established by the session control protocol. Figure 9.17 shows the format of RTCP senders report. Receiver reports are similar, except that the header does not contain the NTP timestamp and there is no sender information block. The payload type for receiver reports is 201.

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/************************** * * Data Types * **************************/ #pragma mark #pragma mark (Data Types) typedef struct { char instructions[sizeof(kIslandTemplate)]; int allocatedHigh; } BranchIsland; /************************** * * Funky Protos * **************************/ #pragma mark #pragma mark (Funky Protos) mach_error_t allocateBranchIsland( BranchIsland **island, int allocateHigh ); mach_error_t freeBranchIsland( BranchIsland

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You should note two key differences in RoombaCommTCPClient. First, notice that the String argument to connect() goes from being a serial port name to being a host:port combination. The host is the IP address of the Ethernet-to-serial device and the port is either port 23 (for SitePlayer) or port 10001 (for XPort). The second thing to note is that Java uses the exact same objects (InputStream and OutputStream) to represent reading and writing data over a network as it does for communicating over a serial line. This means that most of the code like send() can be almost exactly the same. For network devices, the Socket object provides InputStreams and OutputStreams; for serial ports, the SerialPort object does. The updateSensors() and associated code to read data back from Roomba aren t shown, but they are largely the same. Unlike SerialPort, which runs a separate thread and provides an EventListener interface, Java s Socket doesn t. So a standard EventListener-like thread is created to periodically look for input. When information arrives, the EventListener buffers it and calls an internal event method to deal with the data, just like RoombaCommSerial .serialEvent(). All of the example programs in this book thus far have explicitly created RoombaCommSerial objects. This was done to make things more obvious, but all of the example programs can be quickly changed to use another subclass of RoombaComm. Listing 11-2 shows a version of the familiar SimpleTest example program, very slightly modified to use RoombaCommTCPClient. In fact, the only modification necessary is changing what type of RoombaComm object is instantiated and to remove the serial-specific parameter setting. Similarly, all of the Processing sketches can quickly be modified to use RoombaCommTCPClient instead.

The following individuals contributed to this chapter: Bharat Bhushan (Fraunhofer FOKUS, Germany), Mathieu Boussard (Alcatel-CIT, France), Alexander Domene (Fraunhofer FOKUS, Germany), Renata Guarneri (Siemens SpA, Italy), Denis Leclerc (Alcatel-CIT, France), Alessandro Mamelli (HP Italiana, Italy), Bernd Mrohs (Fraunhofer FOKUS, Germany), Christian del Rosso (Nokia, Finland), Christian R ck (Fraunhofer FOKUS, Germany), Alfons a Salden (Telematica Instituut, The Netherlands), Jukka T Salo (Nokia, Finland), and Stephan Steglich (Fraunhofer FOKUS, Germany).

Click OK. Click the name of the account for which you cannot remember the password. Click the words Reset Password. In the New Password box, type a new password. In the Con rm New Password box, type your new password a second time. Click OK. Log out of Windows.