tResult cSensorAnalyzer::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cBaseQtFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
THROW_IF_FAILED(CreateInputPins(__exception_ptr));
}
else if (StageNormal == eStage)
{
m_sensorPresets.resize(LIST_LENGTH);
//THROW_IF_FAILED(LoadConfigurationData("default"));
}
else if(eStage == StageGraphReady)
{
//m_pWidget->SetSensorPresets(m_sensorPresets);
cFilename filepath = GetPropertyStr("Directory for Sensorpresets");
ADTF_GET_CONFIG_FILENAME(filepath);
cString path = filepath.CreateAbsolutePath(".");
emit DirectoryReceived(QString(path.GetPtr()));
// no ids were set so far
m_bIDsVoltageSet= tFalse;
m_bIDsInerMeasUnitSet= tFalse;
m_bIDsWheelDataSet= tFalse;
m_bIDsUltrasonicSet = tFalse;
}
RETURN_NOERROR;
}
tResult cSensorAnalyzer::LoadConfigurationData(cString filename)
{
//Get path of configuration file
//EDS macro is resolved automatically because it is a file property
m_fileConfig = filename;//GetPropertyStr("Filename for Sensorpresets");
if (m_fileConfig.IsEmpty())
LOG_WARNING("Configuration file not found for Analyzer");
ADTF_GET_CONFIG_FILENAME(m_fileConfig);
m_fileConfig = m_fileConfig.CreateAbsolutePath(".");
if (cFileSystem::Exists(m_fileConfig))
{
cDOM oDOM;
oDOM.Load(m_fileConfig);
cDOMElementRefList oElems;
if(IS_OK(oDOM.FindNodes("presets/sensorPreset", oElems)))
{
for (cDOMElementRefList::iterator itElem = oElems.begin(); itElem != oElems.end(); ++itElem)
{
cDOMElement* pConfigElement;
tSensorPreset newSensorPreset;
if (IS_OK((*itElem)->FindNode("sensor", pConfigElement)))
{
newSensorPreset.sensorName = cString(pConfigElement->GetData());
if (IS_OK((*itElem)->FindNode("nominalValue", pConfigElement)))
newSensorPreset.nominalValue = static_cast<tFloat32>(cString(pConfigElement->GetData()).AsFloat64());
if (IS_OK((*itElem)->FindNode("maxPosDeviation", pConfigElement)))
newSensorPreset.maxPosDeviation = static_cast<tFloat32>(cString(pConfigElement->GetData()).AsFloat64());
if (IS_OK((*itElem)->FindNode("maxNegDeviation", pConfigElement)))
newSensorPreset.maxNegDeviation = static_cast<tFloat32>(cString(pConfigElement->GetData()).AsFloat64());
}
/*LOG_INFO(cString::Format("Name %s, Nominal: %f, NegDev: %f, PosDev: %f",
newSensorPreset.sensorName.GetPtr(),
newSensorPreset.nominalValue,
newSensorPreset.maxNegDeviation,
newSensorPreset.maxPosDeviation
));*/
addParsedElement(newSensorPreset);
}
}
else
{
LOG_WARNING("Configured configuration file does not contain valid xml scheme");
}
}
else
{
LOG_WARNING("Configured configuration file not found (yet).Will appear after extracting the extended data");
}
RETURN_NOERROR;
}
tResult StateControlManagementSlim::LoadSCMStructureData()
{
// Get path of structure file
m_strStructureFileName = GetPropertyStr("Configuration File For StateControlManagement");
// check if file exits
if (m_strStructureFileName.IsEmpty())
{
#ifdef WRITE_DEBUG_OUTPUT_TO_FILE
scm_logfile << std::endl << "### --- " << std::endl << "SCM ERROR: XML-File for structural configuration not found, please check property!" << std::endl;
#endif
RETURN_AND_LOG_ERROR_STR(ERR_INVALID_FILE,cString::Format("SCM: XML-File for structural configuration not found, please check property!"));
}
// create absolute path
ADTF_GET_CONFIG_FILENAME(m_strStructureFileName);
m_strStructureFileName = m_strStructureFileName.CreateAbsolutePath(".");
//Load file, parse configuration, print the data
if (cFileSystem::Exists(m_strStructureFileName))
{
cDOM oDOM;
oDOM.Load(m_strStructureFileName);
m_SCMstructureList.clear();
cDOMElementRefList oScManeuverElems;
cDOMElementRefList oScStepElems;
cDOMElement* oScLevelActiveElem;
cDOMElement* oScLevelPassiveElem;
cDOMElementRefList oScFilterIDActiveElems;
cDOMElementRefList oScFilterIDPassiveElems;
cDOMElement* oScActionElem;
cDOMElementRefList oScRequestElems;
/* counters for checking if structural configuration file of StateControlManagement was correctly implemented by user, which means
* that both maneuvers and steps start at id=0 and are implemented in ascending order in the xml-file, with NO gaps existing between ids! */
tUInt32 manCounter = 0;
tUInt32 stepCounter = 0;
//read first scManeuver Element
if(IS_OK(oDOM.FindNodes("SCM-Structure-List/SCM-Maneuver", oScManeuverElems)))
{
//iterate through scManeuvers
for (cDOMElementRefList::iterator itScManeuverElem = oScManeuverElems.begin(); itScManeuverElem != oScManeuverElems.end(); ++itScManeuverElem)
{
//if scManeuver found
sc_Maneuver scManeuver; // declare object of scManeuver for saving purpose
scManeuver.id = (*itScManeuverElem)->GetAttributeUInt32("id");
if(manCounter != scManeuver.id){
#ifdef WRITE_DEBUG_OUTPUT_TO_FILE
scm_logfile << std::endl << "### --- " << std::endl << "SCM ERROR: Invalid structure of xml-file at maneuver " << scManeuver.id << ". Maneuvers must have ascending order and start at ID = 0. No gaps allowed. Check file!" << std::endl;
#endif
RETURN_AND_LOG_ERROR_STR(ERR_INVALID_FILE,cString::Format("SCM: Invalid structure of xml-file at maneuver %d. Maneuvers must have ascending order and start at ID = 0. No gaps allowed. Check file!",scManeuver.id));
}
if(m_bPrintStrucModeEnabled) LOG_WARNING(cString::Format("SCM: Maneuver %d ;",scManeuver.id));
if(IS_OK((*itScManeuverElem)->FindNodes("SCM-Step", oScStepElems)))
{
stepCounter = 0;
//iterate through scSteps
for(cDOMElementRefList::iterator itScStepsElem = oScStepElems.begin(); itScStepsElem != oScStepElems.end(); ++itScStepsElem)
{
//if scStep found
sc_Step scStep;
scStep.id = (*itScStepsElem)->GetAttributeUInt32("id");
if(stepCounter != scStep.id){
#ifdef WRITE_DEBUG_OUTPUT_TO_FILE
scm_logfile << std::endl << "### --- " << std::endl << "SCM ERROR: Invalid structure of xml-file in maneuver " << scManeuver.id << ", step " << scStep.id << ". Maneuvers must have ascending order and start at ID = 0. No gaps allowed. Check file!" << std::endl;
#endif
RETURN_AND_LOG_ERROR_STR(ERR_INVALID_FILE,cString::Format("SCM: Invalid structure of xml-file in maneuver %d, step %d. Steps must have ascending order and start at ID = 0. No gaps allowed. Check file!",scManeuver.id,scStep.id));
}
if(m_bPrintStrucModeEnabled) LOG_WARNING(cString::Format("SCM: ---> Step %d ;",scStep.id));
// PATH FOR ACTIVITYLEVEL: ACTIVE
if(IS_OK((*itScStepsElem)->FindNode("SCM-ActivityLevel/SCM-Active", oScLevelActiveElem)))
{
if(m_bPrintStrucModeEnabled) LOG_WARNING(cString::Format("SCM: -----> ACTIVE:"));
//if scActivityLevel_ACTIVE found
if(IS_OK(oScLevelActiveElem->FindNodes("SCM-FilterID", oScFilterIDActiveElems)))
{
//iterate through scFilterID_Active
for(cDOMElementRefList::iterator itScFilterIDActiveElem = oScFilterIDActiveElems.begin(); itScFilterIDActiveElem != oScFilterIDActiveElems.end(); ++itScFilterIDActiveElem)
{
//if ScFilterID_Active found, Element of List FilterList active
sc_Filter_active scFilterActive;
scFilterActive.filterID= (*itScFilterIDActiveElem)->GetAttributeUInt32("id");
if(m_bPrintStrucModeEnabled) LOG_WARNING(cString::Format("SCM: -------> FilterID %d ;",scFilterActive.filterID));
// inside ID, there is only SCM-Action, so only search for specific node
if(IS_OK((*itScFilterIDActiveElem)->FindNode("SCM-Action", oScActionElem)))
{
scFilterActive.action.enabled = oScActionElem->GetAttributeBool("enable");
if(m_bPrintStrucModeEnabled) LOG_WARNING(cString::Format("SCM: ---------> enable %d ;",scFilterActive.action.enabled));
scFilterActive.action.started = oScActionElem->GetAttributeBool("start");
if(m_bPrintStrucModeEnabled) LOG_WARNING(cString::Format("SCM: ---------> start %d ;",scFilterActive.action.started));
scFilterActive.action.command = oScActionElem->GetAttributeUInt32("command");
if(m_bPrintStrucModeEnabled) LOG_WARNING(cString::Format("SCM: ---------> command %d ;",scFilterActive.action.command));
}
// Push found FilterActive Commands into Filter-Active-list for current step
scStep.activityLvl.active.FilterList.push_back(scFilterActive);
}
}
}
// PATH FOR ACTIVITYLEVEL: PASSIVE
if(IS_OK((*itScStepsElem)->FindNode("SCM-ActivityLevel/SCM-Passive", oScLevelPassiveElem)))
{
if(m_bPrintStrucModeEnabled) LOG_WARNING(cString::Format("SCM: -----> PASSIVE:"));
//if scActivityLevel_PASSIVE found
if(IS_OK(oScLevelPassiveElem->FindNodes("SCM-FilterID", oScFilterIDPassiveElems)))
{
//iterate through scFilterID_Passive
for(cDOMElementRefList::iterator itScFilterIDPassiveElem = oScFilterIDPassiveElems.begin(); itScFilterIDPassiveElem != oScFilterIDPassiveElems.end(); ++itScFilterIDPassiveElem)
{
//if ScFilterID_Passive found, Element of List FilterList passive
sc_Filter_passive scFilterPassive;
scFilterPassive.filterID= (*itScFilterIDPassiveElem)->GetAttributeUInt32("id");
if(m_bPrintStrucModeEnabled) LOG_WARNING(cString::Format("SCM: -------> FilterID %d ;",scFilterPassive.filterID));
// inside ID, there can be several SCM-Requests
if(IS_OK((*itScFilterIDPassiveElem)->FindNodes("SCM-Request", oScRequestElems)))
{
//iterate through scFilterID_Passive
for(cDOMElementRefList::iterator itScReqeustElems = oScRequestElems.begin(); itScReqeustElems != oScRequestElems.end(); ++itScReqeustElems)
{
//if sc_Request found, Element of List Request
sc_Request scRequest;
scRequest.request = (*itScReqeustElems)->GetAttributeUInt32("status");
scRequest.command = (*itScReqeustElems)->GetAttributeUInt32("command");
scFilterPassive.Requests.push_back(scRequest);
if(m_bPrintStrucModeEnabled) LOG_WARNING(cString::Format("SCM: ---------> status %d, command %d ;",scRequest.request,scRequest.command));
}
}
// Push found FilterPassive Commands into Filter-Passive-list for current step
scStep.activityLvl.passive.FilterList.push_back(scFilterPassive);
}
}
}
// Push found steps into step-list
scManeuver.Steps.push_back(scStep);
stepCounter++; // increase step counter
}
}
m_SCMstructureList.push_back(scManeuver);
manCounter++; // increase maneuver counter
}
}
if (oScManeuverElems.size() > 0)
{
if(m_bDebugModeEnabled) LOG_WARNING(cString::Format("SCM: Loaded Structural Configuration file successfully."));
#ifdef WRITE_DEBUG_OUTPUT_TO_FILE
scm_logfile << "SCM: Loaded Structural Configuration file successfully." << std::endl;
#endif
}
else
{
#ifdef WRITE_DEBUG_OUTPUT_TO_FILE
scm_logfile << std::endl << "### --- " << std::endl << "SCM ERROR: no valid Configuration Data found in file!" << std::endl;
#endif
RETURN_AND_LOG_ERROR_STR(ERR_INVALID_FILE, cString::Format("SCM: no valid Configuration Data found in file!"));
}
}
else
{
#ifdef WRITE_DEBUG_OUTPUT_TO_FILE
scm_logfile << std::endl << "### --- " << std::endl << "SCM ERROR: Structural configuration file not found!" << std::endl;
#endif
RETURN_AND_LOG_ERROR_STR(ERR_INVALID_FILE,cString::Format("SCM: Structural configuration file not found!"));
}
RETURN_NOERROR;
}
tResult cMarkerDetectFilter::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
//create the video rgb input pin
RETURN_IF_FAILED(m_oPinInputVideo.Create("Video_RGB_input",IPin::PD_Input, static_cast<IPinEventSink*>(this)));
RETURN_IF_FAILED(RegisterPin(&m_oPinInputVideo));
//create the video rgb output pin
RETURN_IF_FAILED(m_oPinOutputVideo.Create("Video_RGB_output", IPin::PD_Output, static_cast<IPinEventSink*>(this)));
RETURN_IF_FAILED(RegisterPin(&m_oPinOutputVideo));
// create the description manager
cObjectPtr<IMediaDescriptionManager> pDescManager;
RETURN_IF_FAILED(_runtime->GetObject(OID_ADTF_MEDIA_DESCRIPTION_MANAGER,IID_ADTF_MEDIA_DESCRIPTION_MANAGER, (tVoid**)&pDescManager,__exception_ptr));
tChar const * strDescSignalLanacc_man = pDescManager->GetMediaDescription("tSignalValue");
RETURN_IF_POINTER_NULL(strDescSignalLanacc_man);
cObjectPtr<IMediaType> pTypeSignalmaneuver_lanacc = new cMediaType(0, 0, 0, "tSignalValue", strDescSignalLanacc_man, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(pTypeSignalmaneuver_lanacc->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&mediatype_Lan_Acc_Man));
RETURN_IF_FAILED(Lan_Acc_Man.Create("Lan_Acc_Man", pTypeSignalmaneuver_lanacc, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&Lan_Acc_Man));
tChar const * strDescSignalmaneuver_accspeed = pDescManager->GetMediaDescription("tSignalValue");
RETURN_IF_POINTER_NULL(strDescSignalmaneuver_accspeed);
cObjectPtr<IMediaType> pTypeSignalmaneuver_accspeed = new cMediaType(0, 0, 0, "tSignalValue", strDescSignalmaneuver_accspeed, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(pTypeSignalmaneuver_accspeed->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&mediatype_Lan_Acc_Speed));
RETURN_IF_FAILED(Lan_Acc_Speed.Create("Lane_Speed", pTypeSignalmaneuver_accspeed, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&Lan_Acc_Speed));
tChar const * strDescSignalmaneuver_idJury = pDescManager->GetMediaDescription("tSignalValue");
RETURN_IF_POINTER_NULL(strDescSignalmaneuver_idJury);
cObjectPtr<IMediaType> pTypeSignalmaneuver_idjury = new cMediaType(0, 0, 0, "tSignalValue", strDescSignalmaneuver_idJury, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(pTypeSignalmaneuver_idjury->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&mediatype_maneuverid_Jury));
RETURN_IF_FAILED(maneuverid_Jury.Create("maneuverid_Jury", pTypeSignalmaneuver_idjury, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&maneuverid_Jury));
tChar const * strDescSignalmaneuver_id = pDescManager->GetMediaDescription("tSignalValue");
RETURN_IF_POINTER_NULL(strDescSignalmaneuver_id);
cObjectPtr<IMediaType> pTypeSignalmaneuver_id = new cMediaType(0, 0, 0, "tSignalValue", strDescSignalmaneuver_id, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(pTypeSignalmaneuver_id->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&mediatype_maneuver_id));
RETURN_IF_FAILED(maneuver_id.Create("Maneuver_ID", pTypeSignalmaneuver_id, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&maneuver_id));
tChar const * strDescSignalmaneuver_finish = pDescManager->GetMediaDescription("tBoolSignalValue");
RETURN_IF_POINTER_NULL(strDescSignalmaneuver_finish);
cObjectPtr<IMediaType> pTypeSignalmaneuver_finish = new cMediaType(0, 0, 0, "tBoolSignalValue", strDescSignalmaneuver_finish, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(pTypeSignalmaneuver_finish->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&mediatype_maneuver_finish));
RETURN_IF_FAILED(maneuver_finish.Create("Maneuver_int_Finish", pTypeSignalmaneuver_finish, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&maneuver_finish));
// create the description for the road sign pin
tChar const * strDesc = pDescManager->GetMediaDescription("tRoadSign");
RETURN_IF_POINTER_NULL(strDesc);
cObjectPtr<IMediaType> pType = new cMediaType(0, 0, 0, "tRoadSign", strDesc, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
// create the road sign OutputPin
RETURN_IF_FAILED(m_oPinRoadSign.Create("RoadSign", pType, this));
RETURN_IF_FAILED(RegisterPin(&m_oPinRoadSign));
// set the description for the road sign pin
RETURN_IF_FAILED(pType->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pDescriptionRoadSign));
// create the description for the road sign pin
tChar const * strDescExt = pDescManager->GetMediaDescription("tRoadSignExt");
RETURN_IF_POINTER_NULL(strDescExt);
cObjectPtr<IMediaType> pTypeExt = new cMediaType(0, 0, 0, "tRoadSignExt", strDescExt, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
// create the extended road sign OutputPin
RETURN_IF_FAILED(m_oPinRoadSignExt.Create("RoadSign_ext", pTypeExt, this));
RETURN_IF_FAILED(RegisterPin(&m_oPinRoadSignExt));
// set the description for the extended road sign pin
RETURN_IF_FAILED(pTypeExt->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pDescriptionRoadSignExt));
}
else if (eStage == StageNormal)
{
// get the propeerties
ReadProperties(NULL);
m_iOutputMode = GetPropertyInt("Video Output Pin");
m_f32MarkerSize = static_cast<tFloat32>(GetPropertyFloat("Size of Markers"));
m_bDebugModeEnabled = GetPropertyBool("Debug Output to Console");
imshowflag = GetPropertyBool(MD_ENABLE_IMSHOW);
imshowflag_ver = GetPropertyBool(MD_ENABLE_IMSHOW_VER);
m_bCamaraParamsLoaded = tFalse;
//Get path of marker configuration file
cFilename fileConfig = GetPropertyStr("Dictionary File For Markers");
//create absolute path for marker configuration file
ADTF_GET_CONFIG_FILENAME(fileConfig);
fileConfig = fileConfig.CreateAbsolutePath(".");
//check if marker configuration file exits
if (fileConfig.IsEmpty() || !(cFileSystem::Exists(fileConfig)))
{
LOG_ERROR("Dictionary File for Markers not found");
RETURN_ERROR(ERR_INVALID_FILE);
}
else
{
//try to read the marker configuration file
if(m_Dictionary.fromFile(string(fileConfig))==false)
{
RETURN_ERROR(ERR_INVALID_FILE);
LOG_ERROR("Dictionary File for Markers could not be read");
}
if(m_Dictionary.size()==0)
{
RETURN_ERROR(ERR_INVALID_FILE);
LOG_ERROR("Dictionary File does not contain valid markers or could not be read sucessfully");
}
//set marker configuration file to highlyreliable markers class
if (!(HighlyReliableMarkers::loadDictionary(m_Dictionary)==tTrue))
{
//LOG_ERROR("Dictionary File could not be read for highly reliable markers");
}
}
//Get path of calibration file with camera paramters
cFilename fileCalibration = GetPropertyStr("Calibration File for used Camera"); ;
//Get path of calibration file with camera paramters
ADTF_GET_CONFIG_FILENAME(fileCalibration);
fileCalibration = fileCalibration.CreateAbsolutePath(".");
//check if calibration file with camera paramters exits
if (fileCalibration.IsEmpty() || !(cFileSystem::Exists(fileCalibration)))
{
LOG_ERROR("Calibration File for camera not found");
}
else
{
// read the calibration file with camera paramters exits and save to member variable
m_TheCameraParameters.readFromXMLFile(fileCalibration.GetPtr());
cv::FileStorage camera_data (fileCalibration.GetPtr(),cv::FileStorage::READ);
camera_data ["camera_matrix"] >> m_Intrinsics;
camera_data ["distortion_coefficients"] >> m_Distorsion;
m_bCamaraParamsLoaded = tTrue;
}
}
tResult cJuryTransmitter::loadManeuverList()
{
m_maneuverListFile = GetPropertyStr("ManeuverFile");
if (m_maneuverListFile.IsEmpty())
{
LOG_ERROR("Jury Module: Maneuver file not found");
RETURN_ERROR(ERR_INVALID_FILE);
}
ADTF_GET_CONFIG_FILENAME(m_maneuverListFile);
m_maneuverListFile = m_maneuverListFile.CreateAbsolutePath(".");
//Load file, parse configuration, print the data
if (cFileSystem::Exists(m_maneuverListFile))
{
cDOM oDOM;
oDOM.Load(m_maneuverListFile);
cDOMElementRefList oSectorElems;
cDOMElementRefList oManeuverElems;
//read first Sector Elem
if(IS_OK(oDOM.FindNodes("AADC-Maneuver-List/AADC-Sector", oSectorElems)))
{
//iterate through sectors
for (cDOMElementRefList::iterator itSectorElem = oSectorElems.begin(); itSectorElem != oSectorElems.end(); ++itSectorElem)
{
//if sector found
tSector sector;
sector.id = (*itSectorElem)->GetAttributeUInt32("id");
if(IS_OK((*itSectorElem)->FindNodes("AADC-Maneuver", oManeuverElems)))
{
//iterate through maneuvers
for(cDOMElementRefList::iterator itManeuverElem = oManeuverElems.begin(); itManeuverElem != oManeuverElems.end(); ++itManeuverElem)
{
tAADC_Maneuver man;
man.id = (*itManeuverElem)->GetAttributeUInt32("id");
man.action = (*itManeuverElem)->GetAttribute("action");
sector.maneuverList.push_back(man);
}
}
m_sectorList.push_back(sector);
}
}
if (oSectorElems.size() > 0)
{
LOG_INFO("Jury Module: Loaded Maneuver file successfully.");
}
else
{
LOG_ERROR("Jury Moduler: no valid Maneuver Data found!");
RETURN_ERROR(ERR_INVALID_FILE);
}
}
else
{
LOG_ERROR("Jury Module: no valid Maneuver File found!");
RETURN_ERROR(ERR_INVALID_FILE);
}
//OUTPUT DATA TO LOG
//for(int i = 0; i < m_sectorList.size(); i++)
//{
// LOG_INFO(cString::Format("Driver Module: Sector ID %d",m_sectorList[i].id));
// for(int j = 0; j < m_sectorList[i].maneuverList.size(); j++)
// {
// LOG_INFO(cString::Format("\tManeuver ID: %d", m_sectorList[i].maneuverList.at(j).id));
// LOG_INFO(cString::Format("\tManeuver action: %s", m_sectorList[i].maneuverList.at(j).action.GetPtr()));
// }
//}
RETURN_NOERROR;
}
tResult DriverFilter::loadManeuverList()
{
this->maneuverListFile = GetPropertyStr(PROP_NAME);
if (this->maneuverListFile.IsEmpty())
{
LOG_ERROR("DriverFilter: Maneuver file not found");
RETURN_ERROR(ERR_INVALID_FILE);
}
ADTF_GET_CONFIG_FILENAME(maneuverListFile);
this->maneuverListFile = this->maneuverListFile.CreateAbsolutePath(".");
//Load file, parse configuration, print the data
if (cFileSystem::Exists(this->maneuverListFile))
{
cDOM oDOM;
oDOM.Load(this->maneuverListFile);
cDOMElementRefList oSectorElems;
cDOMElementRefList oManeuverElems;
//read first Sector Elem
if(IS_OK(oDOM.FindNodes("AADC-Maneuver-List/AADC-Sector", oSectorElems)))
{
//iterate through sectors
for (cDOMElementRefList::iterator itSectorElem = oSectorElems.begin(); itSectorElem != oSectorElems.end(); ++itSectorElem)
{
//if sector found
tSector sector;
sector.id = (*itSectorElem)->GetAttributeUInt32("id");
if(IS_OK((*itSectorElem)->FindNodes("AADC-Maneuver", oManeuverElems)))
{
//iterate through maneuvers
for(cDOMElementRefList::iterator itManeuverElem = oManeuverElems.begin(); itManeuverElem != oManeuverElems.end(); ++itManeuverElem)
{
tAADC_Maneuver man;
man.id = (*itManeuverElem)->GetAttributeUInt32("id");
man.action = (*itManeuverElem)->GetAttribute("action");
sector.maneuverList.push_back(man);
}
}
this->sectorList.push_back(sector);
}
}
if (oSectorElems.size() > 0)
{
LOG_INFO("DriverFilter: Loaded Maneuver file successfully.");
}
else
{
LOG_ERROR("DriverFilter: no valid Maneuver Data found!");
RETURN_ERROR(ERR_INVALID_FILE);
}
}
else
{
LOG_ERROR("DriverFilter: no valid Maneuver File found!");
RETURN_ERROR(ERR_INVALID_FILE);
}
RETURN_NOERROR;
}
