tResult Emergency::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
cObjectPtr<IMediaType> typeSignal;
cObjectPtr<IMediaType> typeSignalOut;
RETURN_IF_FAILED(initInputPins(__exception_ptr, typeSignal));
RETURN_IF_FAILED(initOutputPins(typeSignalOut));
RETURN_IF_FAILED(typeSignal->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**) &this->coderDescriptionSignalInput));
RETURN_IF_FAILED_AND_LOG_ERROR_STR(createInputPin("front_ir_fusion", this->m_oIFrontIRF, typeSignal), "Failed creating IR Fusion!");
RETURN_IF_FAILED_AND_LOG_ERROR_STR(createOutputPin("decision", this->decisionPin, typeSignalOut), "Failed creating decision output!");
}
else if (eStage == StageNormal)
{
this->m_nEmergencyDistanceFront = GetPropertyInt(PROPERTY_EMERGENCY_DISTANCE_FRONT);
this->m_nEmergencyDistanceRear = GetPropertyInt(PROPERTY_EMERGENCY_DISTANCE_REAR);
this->m_nEmergencyDistanceFrontUss = GetPropertyInt(PROPERTY_EMERGENCY_DISTANCE_FRONT_USS);
}
else if (eStage == StageGraphReady)
{
cObjectPtr<IMediaSerializer> serializer;
RETURN_IF_FAILED(this->coderDescriptionSignalOutput->GetMediaSampleSerializer(&serializer));
m_size = serializer->GetDeserializedSize();
}
RETURN_NOERROR;
}
Controller::Controller()
{
initPwm();
initInputPins();
}
