.. _start_streaming:

Start Streaming
===============

By sending this message, the controller is notified to transition to streaming mode. Along with the message, a payload needs to be transmitted that configures the streaming mode.


Payload
-------

- ``mode`` The desired streaming mode, i.e. the type of waypoints to be streamed

  - ``0`` None, no streaming activated
  - ``1`` Joint positions, see :ref:`Mode Joint Positions <mode_joint_pos>`
  - ``2`` Joint positions and velocities, see :ref:`Mode Joint Positions and Velocities <mode_joint_pos_vel>`
  - ``3`` Absolute cartesian pose, see :ref:`Mode Cartesian (absolute) <mode_cartesian_absolute>`
  - ``4`` Relative (to the end effector frame) cartesian pose, see :ref:`Mode Cartesian (relative) <mode_cartesian_relative>`
- ``target_frequency`` The frequency, at which streaming messages will be sent in [Hz].
- ``desired_buffer_length`` Target length of the message buffer.

  - **Note:** For some modes relying on spline interpolation, the buffer has to have at least four entries.
  - A larger buffer makes the program more robust against e.g. packet loss, at the cost of a longer input delay (in real-time streaming applications)
- ``source_ip`` The IP address from which streaming messages will be sent. Messages from all other addresses are rejected.

Example:

.. code-block:: json
    :linenos:
    
    {
    "mode": 1,
    "target_frequency": 200,
    "desired_buffer_length": 8,
    "source_ip": {
        "address": "192.168.1.99"
    }
    }