void GeneratedHeaders_Test7_Helper::__delegateVistor(odcore::data::Container &c, odcore::base::Visitor &v, bool &successfullyDelegated) {
successfullyDelegated = false;
if (c.getDataType() == testpackage::Test7A::ID()) {
testpackage::Test7A payload = c.getData<testpackage::Test7A>();
payload.accept(v);
successfullyDelegated = true;
}
if (c.getDataType() == testpackage::Test7B::ID()) {
testpackage::Test7B payload = c.getData<testpackage::Test7B>();
payload.accept(v);
successfullyDelegated = true;
}
}
void GeneratedHeaders_Test2_Helper::__delegateVistor(odcore::data::Container &c, odcore::base::Visitor &v, bool &successfullyDelegated) {
successfullyDelegated = false;
if (c.getDataType() == Test2::ID()) {
Test2 payload = c.getData<Test2>();
payload.accept(v);
successfullyDelegated = true;
}
if (c.getDataType() == Test2b::ID()) {
Test2b payload = c.getData<Test2b>();
payload.accept(v);
successfullyDelegated = true;
}
}
void Ivrule::nextContainer(odcore::data::Container &a_container)
{
if(!m_initialised) {
return;
}
if(a_container.getDataType() == opendlv::perception::Environment::ID()) {
opendlv::perception::Environment message = a_container.getData<opendlv::perception::Environment>();
ReadEnvironment(message);
} else if (a_container.getDataType() == opendlv::proxy::reverefh16::VehicleSpeed::ID()) {
auto propulsion = a_container.getData<opendlv::proxy::reverefh16::VehicleSpeed>();
double speedKph = propulsion.getPropulsionShaftVehicleSpeed();
m_speed = static_cast<float>(speedKph / 3.6);
}
}
void Gcdc2016::nextContainer(odcore::data::Container &a_c)
{
if(a_c.getDataType() == opendlv::proxy::ActuationRequest::ID()){
auto actuationRequest = a_c.getData<opendlv::proxy::ActuationRequest>();
if (actuationRequest.getIsValid())
{
double braking = 0.0;
double acceleration = 0.0;
double roadWheelAngle = actuationRequest.getSteering();
if (actuationRequest.getAcceleration() > 0)
{
acceleration = actuationRequest.getAcceleration();
}
else
{
braking = actuationRequest.getAcceleration();
}
m_vehicle->SetRoadVheelAngle(roadWheelAngle+0.1);
m_vehicle->SetDeceleraionRequest(braking);
m_vehicle->SetThrottlePedalPosition(acceleration+1);
}
}
}
void ProxyLEDStrip::nextContainer(odcore::data::Container &c) {
if (c.getDataType() == opendlv::logic::action::AimPoint::ID()) {
auto aimPoint = c.getData<opendlv::logic::action::AimPoint>();
m_angle = aimPoint.getAzimuthAngle();
cout << "[" << getName() << "] Direction azimuth: " << m_angle << std::endl;
}
}
/**
* Receives raw vehicle message from proxy.
* Sends raw vehicle message to linguistics handlers.
*/
void Audition::nextContainer(odcore::data::Container &c)
{
// cout << "Received container of type " << c.getDataType()
// << " sent at " << c.getSentTimeStamp().getYYYYMMDD_HHMMSSms()
// <<" received at " << c.getReceivedTimeStamp().getYYYYMMDD_HHMMSSms()
// << endl;
if(c.getDataType() == opendlv::proxy::V2vInbound::ID()){
// std::cout << "Received a message of type ."
opendlv::proxy::V2vInbound message = c.getData<opendlv::proxy::V2vInbound>();
std::string dataString = message.getData();
std::vector<unsigned char> data(dataString.begin(), dataString.end());
// string value = message.getValue();
// vector<string> tokens = odcore::strings::StringToolbox::split(value, '|');
// std::cout << std::to_string(static_cast<unsigned char>(*data.begin()))
// << std::endl;
// std::vector<unsigned char> const bytes = data;
// std::stringstream ss;
// for (uint i = 0; i < bytes.size(); i++) {
// ss << std::to_string(bytes.at(i));
// ss << "|";
// }
// std::cout<<ss.str()<<std::endl;
// std::cout<<value<<std::endl;
unsigned char v2vMsgId = data.at(0);
// std::cout << std::to_string(v2vMsgId)<<std::endl;
std::string v2vMsgType;
switch(v2vMsgId)
{
case 1:
v2vMsgType = "denm";
break;
case 2:
v2vMsgType = "cam";
break;
case 10:
v2vMsgType = "iclcm";
break;
default:
std::cout << "Received invalid message ID.";
}
if(!v2vMsgType.empty())
{
// std::cout<<"Sorted and sending to next layer.\n";
opendlv::sensation::Voice nextMessage(v2vMsgType, message.getSize(), dataString);
odcore::data::Container container(nextMessage);
getConference().send(container);
}
}
}
void DataSpy::nextContainer(odcore::data::Container &c) {
if (c.getDataType() == opendlv::proxy::reverefh16::Propulsion::ID()) {
opendlv::proxy::reverefh16::Propulsion data = c.getData<opendlv::proxy::reverefh16::Propulsion>();
cout << "[dataspy] " << data.LongName() << ": " << data.toString() << endl;
return;
}
if (c.getDataType() == opendlv::proxy::reverefh16::Steering::ID()) {
opendlv::proxy::reverefh16::Steering data = c.getData<opendlv::proxy::reverefh16::Steering>();
cout << "[dataspy] " << data.LongName() << ": " << data.toString() << endl;
return;
}
if (c.getDataType() == opendlv::proxy::GpsReading::ID()) {
opendlv::proxy::GpsReading data = c.getData<opendlv::proxy::GpsReading>();
cout << "[dataspy] " << data.LongName() << ": " << data.toString() << endl;
return;
}
cout << "[dataspy] Received container of type " << c.getDataType() << endl;
}
void CanMessageDataStore::add(odcore::data::Container &container)
{
using namespace automotive;
if (container.getDataType() == GenericCANMessage::ID()) {
// TODO: Use CAN mapping to transform a high-level message to a low-level
// message.
// GenericCANMessage gcm = const_cast<odcore::data::Container
// &>(container)
// .getData<GenericCANMessage>();
// m_canDevice->write(gcm);
}
}
void ProxyV2V::nextContainer(odcore::data::Container &c) {
if (!m_initialised) {
return;
}
if (c.getDataType() == opendlv::proxy::V2vRequest::ID()) {
if (m_debug) {
cout << "[" << getName() << "] Got an outbound message" << endl;
}
opendlv::proxy::V2vRequest message = c.getData< opendlv::proxy::V2vRequest >();
try {
m_udpsender->send(message.getData());
}
catch (string &exception) {
cerr << "[" << getName() << "] Data could not be sent: " << exception << endl;
}
}
}
void Relay::nextContainer(odcore::data::Container &a_container)
{
if (a_container.getDataType() == opendlv::proxy::RelayRequest::ID()) {
opendlv::proxy::RelayRequest request =
a_container.getData<opendlv::proxy::RelayRequest>();
std::string deviceId = request.getDeviceId();
if (deviceId != getIdentifier()) {
return;
}
bool relayValue = request.getRelayValue();
uint8_t relayIndex = request.getRelayIndex();
m_device->SetValue(relayIndex, relayValue);
}
}
void CheckActuation::nextContainer(odcore::data::Container &a_container)
{
if (a_container.getDataType() == opendlv::proxy::ActuationRequest::ID()+300){
opendlv::proxy::ActuationRequest actuationRequest
= a_container.getData<opendlv::proxy::ActuationRequest>();
float acceleration = actuationRequest.getAcceleration();
float steering = actuationRequest.getSteering();
// clamp steering
if (steering < -m_steeringLimit) {
steering = -m_steeringLimit;
std::cout << "steering request was capped to " << steering << std::endl;
}
else if (steering > m_steeringLimit) {
steering = m_steeringLimit;
std::cout << "steering request was capped to " << steering << std::endl;
}
// clamp acceleration
if (acceleration < -m_maxAllowedDeceleration) {
acceleration = -m_maxAllowedDeceleration;
std::cout << "acceleration request was capped to " << acceleration << std::endl;
}
else if (acceleration > m_accMaxLimit) {
acceleration = m_accMaxLimit;
std::cout << "acceleration request was capped to " << acceleration << std::endl;
}
actuationRequest.setAcceleration(acceleration);
actuationRequest.setSteering(steering);
actuationRequest.setIsValid(true);
odcore::data::Container c(actuationRequest);
getConference().send(c);
}
}
/**
* Receives raw images from cameras.
* Sends an RGB matrix of optical flow.
*/
void OpticalFlow::nextContainer(odcore::data::Container &a_c)
{
if(a_c.getDataType() != odcore::data::image::SharedImage::ID()){
return;
}
odcore::data::image::SharedImage mySharedImg =
a_c.getData<odcore::data::image::SharedImage>();
// std::cout<<mySharedImg.getName()<<std::endl;
std::shared_ptr<odcore::wrapper::SharedMemory> sharedMem(
odcore::wrapper::SharedMemoryFactory::attachToSharedMemory(
mySharedImg.getName()));
const uint32_t nrChannels = mySharedImg.getBytesPerPixel();
const uint32_t imgWidth = mySharedImg.getWidth();
const uint32_t imgHeight = mySharedImg.getHeight();
IplImage* myIplImage = cvCreateImage(cvSize(imgWidth,imgHeight), IPL_DEPTH_8U,
nrChannels);
m_image = cv::Mat(myIplImage);
if(!sharedMem->isValid()){
return;
}
sharedMem->lock();
{
memcpy(m_image.data, sharedMem->getSharedMemory(),
imgWidth*imgHeight*nrChannels);
}
sharedMem->unlock();
//Converts the image to grayscale and output in "gray"
cv::cvtColor(m_image, m_grayImage, cv::COLOR_BGR2GRAY);
//First initialisation of the image
if(m_prevGrayImage.empty()){
m_grayImage.copyTo(m_prevGrayImage);
double x,y;
for(uint32_t i = 1; i <= m_nAxisPoints; ++i){
for(uint32_t j = 1; j <= m_nAxisPoints; ++j){
x = imgWidth*j/(1+m_nAxisPoints);
y = imgHeight*i/(1+m_nAxisPoints);
m_staticImagePoints.push_back(cv::Point2f(x,y));
// constPoints->row(k) << x,y;
}
}
}
std::vector<uchar> status;
std::vector<float> err;
cv::calcOpticalFlowPyrLK(m_prevGrayImage, m_grayImage, m_staticImagePoints,
m_endImagePoints, status, err, m_searchSize, m_maxLevel, m_termcrit,
0, m_minEigThreshold);
for(uint32_t i = 0; i < m_staticImagePoints.size(); i++){
cv::circle(m_image, m_staticImagePoints[i], 3, cv::Scalar(255,0,0), -1, 8);
}
for(uint32_t i = 0; i < m_endImagePoints.size(); i++){
cv::circle(m_image, m_endImagePoints[i], 3, cv::Scalar(0,0,255), -1, 8);
}
SendContainer();
// updateFlow();
// std::cout<< m_flow << std::endl;
// if(m_sharedMemory.get() && m_sharedMemory->isValid()){
// {
// std::cout<< m_size << ", " << m_flow.total() * m_flow.elemSize() << std::endl;
// odcore::base::Lock l(m_sharedMemory);
// memcpy(static_cast<char *>(m_sharedMemory->getSharedMemory()),m_flow.data,
// m_size);
// }
// odcore::data::Container c(m_outputSharedImage);
// getConference().send(c);
// // std::cout << "Sent" << std::endl;
//
// }
// std::cout<< m_outputSharedImage.getName() << std::endl;
cv::swap(m_prevGrayImage, m_grayImage);
const int32_t windowWidth = 640;
const int32_t windowHeight = 480;
cv::Mat display1;
cv::resize(m_image, display1, cv::Size(windowWidth, windowHeight), 0, 0,
cv::INTER_CUBIC);
cv::imshow("Optical Flow", display1);
cv::waitKey(1);
cvReleaseImage(&myIplImage);
}
void SuperComponent::handleUnkownContainer(const odcore::data::dmcp::ModuleDescriptor& md, const odcore::data::Container& container) {
clog << "(context::base::SuperComponent) Received unknown container " << container.toString() << "from " << md.toString() << endl;
}
void MessageToCANDataStore::add(odcore::data::Container &container) {
if (container.getDataType() == automotive::GenericCANMessage::ID()) {
GenericCANMessage gcm = container.getData<GenericCANMessage>();
m_canDevice->write(gcm);
}
}
/**
* Receives images as well the optical flow to calculate the focus of expansion
*/
void DirectionOfMovement::nextContainer(odcore::data::Container &a_c)
{
if(a_c.getDataType() == odcore::data::image::SharedImage::ID()){
odcore::data::image::SharedImage mySharedImg =
a_c.getData<odcore::data::image::SharedImage>();
// std::cout<<mySharedImg.getName()<<std::endl;
std::shared_ptr<odcore::wrapper::SharedMemory> sharedMem(
odcore::wrapper::SharedMemoryFactory::attachToSharedMemory(
mySharedImg.getName()));
const uint32_t nrChannels = mySharedImg.getBytesPerPixel();
const uint32_t imgWidth = mySharedImg.getWidth();
const uint32_t imgHeight = mySharedImg.getHeight();
IplImage* myIplImage = cvCreateImage(cvSize(imgWidth,imgHeight), IPL_DEPTH_8U,
nrChannels);
cv::Mat tmpImage = cv::Mat(myIplImage);
if(!sharedMem->isValid()){
return;
}
sharedMem->lock();
{
memcpy(tmpImage.data, sharedMem->getSharedMemory(),
imgWidth*imgHeight*nrChannels);
}
sharedMem->unlock();
m_image.release();
m_image = tmpImage.clone();
cvReleaseImage(&myIplImage);
return;
}
if(a_c.getDataType() == opendlv::sensation::OpticalFlow::ID()){
opendlv::sensation::OpticalFlow message =
a_c.getData<opendlv::sensation::OpticalFlow>();
uint16_t nPoints = message.getNumberOfPoints();
std::vector<opendlv::model::Direction> directions =
message.getListOfDirections();
std::vector<float> u = message.getListOfU();
std::vector<float> v = message.getListOfV();
Eigen::MatrixXd flow(nPoints, 4);
Eigen::MatrixXd A(nPoints,2);
Eigen::MatrixXd B(nPoints,1);
for(uint8_t i = 0; i < nPoints; ++i){
flow.row(i) << directions[i].getAzimuth(), directions[i].getZenith(),
u[i], v[i];
}
A.col(0) = flow.col(3);
A.col(1) = -flow.col(2);
B.col(0) = flow.col(3).cwiseProduct(flow.col(0))-flow.col(1).cwiseProduct(flow.col(2));
// FOE = (A * A^T)^-1 * A^T * B
Eigen::VectorXd FoeMomentum = ((A.transpose()*A).inverse() * A.transpose() * B) - m_foePix;
if(FoeMomentum.allFinite()){
if(FoeMomentum.norm() > 10){
m_foePix = m_foePix + FoeMomentum/FoeMomentum.norm()*10;
}
else{
m_foePix = m_foePix + FoeMomentum/20;
}
}
// SendContainer();
std::cout<< m_foePix.transpose() << std::endl;
cv::circle(m_image, cv::Point2f(m_foePix(0),m_foePix(1)), 3, cv::Scalar(0,0,255), -1, 8);
const int32_t windowWidth = 640;
const int32_t windowHeight = 480;
cv::Mat display;
cv::resize(m_image, display, cv::Size(windowWidth, windowHeight), 0, 0,
cv::INTER_CUBIC);
cv::imshow("FOE", display);
cv::waitKey(1);
return;
}
}
