pylonDetection::pylonDetection(const tChar* __info) : cFilter(__info)
{
targetPylon = Point2d(0,-1000);
// pylonCertainty = 0;
pylonLost = 0;
sign = -1;
turn_around = false;
flip_sign = false;
is_turning = false;
type_sign = -1;
car_angle = 0.0;
pylonDetectionCounter = 0;
signDetectionCounter = 0;
frameCounter = 0;
SetPropertyStr("Color Calibration Parameters","/home/odroid/AADC/calibration_files/pylonCalibration.xml");
SetPropertyBool("Color Calibration Parameters" NSSUBPROP_FILENAME, tTrue);
SetPropertyStr("Color Calibration Parameters" NSSUBPROP_FILENAME NSSUBSUBPROP_EXTENSIONFILTER, "XML Files (*.xml)");
SetPropertyStr("Camera Calibration Parameters","/home/odroid/AADC/calibration_files/cameraParameters.xml");
SetPropertyBool("Camera Calibration Parameters" NSSUBPROP_FILENAME, tTrue);
SetPropertyStr("Camera Calibration Parameters" NSSUBPROP_FILENAME NSSUBSUBPROP_EXTENSIONFILTER, "XML Files (*.xml)");
SetPropertyInt("Debug Image",3);
SetPropertyStr("Debug Image" NSSUBPROP_VALUELIST, "1@Threshold|2@Color|3@Model|4@Off|");
SetPropertyInt("Speed turning",35);
SetPropertyInt("Speed driving",35);
SetPropertyFloat("Curvature Gain",1.0);
SetPropertyFloat("Curvature Gain" NSSUBPROP_REQUIRED, tTrue);
SetPropertyFloat("Angular Gain",2.0);
SetPropertyFloat("Angular Gain" NSSUBPROP_REQUIRED, tTrue);
}
UltrasonicACC::UltrasonicACC(const tChar* __info) : cFilter(__info) {
/* create the filter properties */
SetPropertyStr(USACC_CONFIG_DRIVING_FILE, "../../../../utilities/UltrasonicACC/UltrasonicACC.xml");
SetPropertyBool(USACC_CONFIG_DRIVING_FILE NSSUBPROP_FILENAME, tTrue);
SetPropertyStr(USACC_CONFIG_DRIVING_FILE NSSUBPROP_FILENAME NSSUBSUBPROP_EXTENSIONFILTER, "XML Files (*.xml)");
SetPropertyStr(USACC_CONFIG_DRIVING_FILE NSSUBPROP_DESCRIPTION, "The XML defining the behaviour for the DRIVING MODE of the ACC has to be set here");
SetPropertyStr(USACC_CONFIG_PARKING_FILE, "../../../../utilities/UltrasonicACC/UltrasonicACC_Parking.xml");
SetPropertyBool(USACC_CONFIG_PARKING_FILE NSSUBPROP_FILENAME, tTrue);
SetPropertyStr(USACC_CONFIG_PARKING_FILE NSSUBPROP_FILENAME NSSUBSUBPROP_EXTENSIONFILTER, "XML Files (*.xml)");
SetPropertyStr(USACC_CONFIG_PARKING_FILE NSSUBPROP_DESCRIPTION, "The XML defining the behaviour for the PARKING MODE of the ACC has to be set here");
SetPropertyBool(USACC_DEBUG_XML_BORDER_WARNING, tFalse);
SetPropertyStr(USACC_DEBUG_XML_BORDER_WARNING NSSUBPROP_DESCRIPTION, "If enabled a warning is printed to console each time the border points of the given xml are reached");
SetPropertyBool(USACC_DEBUG_PRINT_INITIAL_TABLE, tFalse);
SetPropertyStr(USACC_DEBUG_PRINT_INITIAL_TABLE NSSUBPROP_DESCRIPTION, "If enabled the loaded points of the interpolation table of the XML are printed to console");
SetPropertyInt(USACC_COUNTER_THRESHOLD_NOMOVE,3);//noMovementThreshold
SetPropertyStr(USACC_COUNTER_THRESHOLD_NOMOVE NSSUBPROP_DESCRIPTION, "Defines the approximate time in seconds that should be waited until Feedback 'NoMovement' is sent");
SetPropertyInt(USACC_COUNTER_THRESHOLD_MOVEAGAIN,1);//MovementAgainThreshold
SetPropertyStr(USACC_COUNTER_THRESHOLD_MOVEAGAIN NSSUBPROP_DESCRIPTION, "Defines the approximate time in seconds that should be waited until Feedback 'MovingAgain' is sent");
SetPropertyFloat(USACC_LOWERBOUND_SPEED,0.05); //modifiedSpeedLowerBound
SetPropertyStr(USACC_LOWERBOUND_SPEED NSSUBPROP_DESCRIPTION,"Defines the remaining value of speed that is seen as 'no movement'.");
SetPropertyInt(USACC_SENSOR_SCALING_FRONT,15);
SetPropertyInt(USACC_SENSOR_SCALING_FRONT NSSUBPROP_MIN,15);
SetPropertyInt(USACC_SENSOR_SCALING_FRONT NSSUBPROP_MAX,60);
SetPropertyStr(USACC_SENSOR_SCALING_FRONT NSSUBPROP_DESCRIPTION, "With value 30, the sensor pointing in direction of current steering angle is weighted with '1', while the two sensors next to it are weighted with '0.5'; "
"DECREASING this value leads to steeper slope of weighting function, that means sensors next to 'main'-sensor are weighted LESS, e.g. with 15: only main sensor is taken into account!");
SetPropertyInt(USACC_SENSOR_SCALING_REAR,20);
SetPropertyInt(USACC_SENSOR_SCALING_REAR NSSUBPROP_MIN,15);
SetPropertyInt(USACC_SENSOR_SCALING_REAR NSSUBPROP_MAX,60);
SetPropertyStr(USACC_SENSOR_SCALING_REAR NSSUBPROP_DESCRIPTION, "With value 30, the sensor pointing in direction of current steering angle is weighted with '1', while the two sensors next to it are weighted with '0.5'; "
"DECREASING this value leads to steeper slope of weighting function, that means sensors next to 'main'-sensor are weighted LESS, e.g. with 15: only main sensor is taken into account!");
SetPropertyFloat(USACC_SENSOR_FRONT_CHECK_LIMIT, 0.4);
SetPropertyFloat(USACC_SENSOR_FRONT_CHECK_LIMIT NSSUBPROP_MIN,0.0);
SetPropertyFloat(USACC_SENSOR_FRONT_CHECK_LIMIT NSSUBPROP_MAX,1.5);
SetPropertyStr(USACC_SENSOR_FRONT_CHECK_LIMIT NSSUBPROP_DESCRIPTION, "US values greater this property are ignored, area should then be checked with 3D camera (values in meter)");
SetPropertyBool(USACC_DEBUG_OUTPUT_TO_CONSOLE,tFalse);
SetPropertyStr(USACC_DEBUG_OUTPUT_TO_CONSOLE NSSUBPROP_DESCRIPTION, "If enabled additional debug information is printed to the console (Warning: decreases performance)");
SetPropertyBool(USACC_EXT_DEBUG_OUTPUT_TO_CONSOLE,tFalse);
SetPropertyStr(USACC_EXT_DEBUG_OUTPUT_TO_CONSOLE NSSUBPROP_DESCRIPTION, "If enabled all US values are printed to the console (Warning: decreases performance)");
m_bdebugModeEnabled = tFalse;
m_bextendedDebugModeEnabled = tFalse;
/* initialize to neutral mid-setting, corresponds to an angle of zero degree */
tmp_steeringAngle.f32_value = 90;
}
void TemporalImage::InitializeProperties()
{
bufferSize = 5;
method = METHOD_MEAN;
SetPropertyInt(BUFFER_SIZE_PROPERTY, bufferSize);
SetPropertyBool(BUFFER_SIZE_PROPERTY NSSUBPROP_REQUIRED, tTrue);
SetPropertyStr(BUFFER_SIZE_PROPERTY NSSUBPROP_DESCRIPTION, "Buffer Size");
SetPropertyInt(BUFFER_SIZE_PROPERTY NSSUBPROP_MIN, 0);
SetPropertyInt(BUFFER_SIZE_PROPERTY NSSUBPROP_MAX, 255);
SetPropertyInt(METHOD_PROPERTY, method);
SetPropertyBool(METHOD_PROPERTY NSSUBPROP_REQUIRED, tTrue);
SetPropertyStr(METHOD_PROPERTY NSSUBPROP_VALUELIST, "1@Mean|2@And|3@Or");
SetPropertyStr(METHOD_PROPERTY NSSUBPROP_DESCRIPTION, "Defines method which is used to create the output image");
}
cUserAttitudeFilter::cUserAttitudeFilter(const tChar* __info) : cFilter(__info)
{
m_bDebugModeEnabled = tFalse;
SetPropertyBool("DebugOutput", m_bDebugModeEnabled);
/*! total of 24 different euler systems. We support only one, yet. */
m_EulerAnglesType = 0;
SetPropertyInt("EulerAngles", m_EulerAnglesType);
SetPropertyStr("EulerAngles" NSSUBPROP_VALUELISTNOEDIT, "0@YawPitchRoll");
SetPropertyInt("EulerAngles" NSSUBPROP_REQUIRED, tTrue);
qX = .0;
qY = .0;
qZ = .0;
qW = .0;
}
// -------------------------------------------------------------------------------------------------
LaneFilter::LaneFilter(const tChar* __info) {
// -------------------------------------------------------------------------------------------------
cMemoryBlock::MemSet(&input_format_, 0, sizeof(input_format_));
SetPropertyBool("debug", false);
SetPropertyBool("headlights_enabled", true);
SetPropertyInt("scan_rate", 50);
SetPropertyFloat("lum_threshold", 100);
}
void StateControllerNew::InitializeProperties()
{
controllerMode = tControllerMode::Manual;
SetPropertyInt(CONTROLLER_MODE_PROPERTY, controllerMode);
SetPropertyStr(CONTROLLER_MODE_PROPERTY NSSUBPROP_VALUELIST, "0@Manual|1@Jury");
SetPropertyStr(CONTROLLER_MODE_PROPERTY NSSUBPROP_DESCRIPTION, "Defines which mode should be used.");
SetPropertyInt(MANEUVER_PROPERTY, tManeuver::M_CROSSING_STRAIGHT);
SetPropertyBool(MANEUVER_PROPERTY NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MANEUVER_PROPERTY NSSUBPROP_VALUELIST,
"100@Straight|101@Left|102@Right|103@Park_Cross|104@Park_Parallel|105@Pull_Out_Left|106@Pull_Out_Right|-100@Unknown");
SetPropertyStr(MANEUVER_PROPERTY NSSUBPROP_DESCRIPTION, "Defines which Maneuver should be send in manual mode");
SetPropertyInt(STATE_PROPERTY, carState);
SetPropertyBool(STATE_PROPERTY NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(STATE_PROPERTY NSSUBPROP_VALUELIST, "0@StartUp|1@GetReady|2@Ready|3@Running|4@Completed|5@Error");
SetPropertyStr(STATE_PROPERTY NSSUBPROP_DESCRIPTION, "Defines which State should be send in manual mode");
}
Emergency::Emergency(const char *__info) : cFilter(__info)
{
this->m_nLastMSTime = 0;
this->m_nEmergencyDistanceFront = 8;
this->m_nEmergencyDistanceRear = 8;
this->m_nEmergencyDistanceFrontUss = 8;
this->m_bEmergencybreak = true;
this->steerAngle = 0;
this->initSteerAngle = true;
SetPropertyInt(PROPERTY_EMERGENCY_DISTANCE_FRONT, m_nEmergencyDistanceFront);
SetPropertyBool(PROPERTY_EMERGENCY_DISTANCE_FRONT NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyInt(PROPERTY_EMERGENCY_DISTANCE_REAR, m_nEmergencyDistanceRear);
SetPropertyBool(PROPERTY_EMERGENCY_DISTANCE_REAR NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyInt(PROPERTY_EMERGENCY_DISTANCE_FRONT_USS, m_nEmergencyDistanceFrontUss);
SetPropertyBool(PROPERTY_EMERGENCY_DISTANCE_FRONT_USS NSSUBPROP_ISCHANGEABLE, tTrue);
this->m_size=0;
}
testPullOutFilter::testPullOutFilter(const tChar* __info) :
QObject(),
cBaseQtFilter(__info)
{
SetPropertyInt("Type",0);
SetPropertyBool("Type" NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool("Type" NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr("Type" NSSUBPROP_DESCRIPTION, "pullOut type");
}
LPFFilter::LPFFilter(const tChar* __info) :cFilter(__info)
{
//write values with zero
inputSample = 0;
for (int i = 0 ; i<1000 ; i++) { buffer[i] = 0; }
pointer = 0;
outputSample = 0;
SetPropertyInt("N", 4);
SetPropertyBool("N" NSSUBPROP_ISCHANGEABLE, tTrue);
}
void ROI::InitializeProperties()
{
hoodScanLineNumber = 4;
roomScanLineNumber = 4;
maxHoodDetectionCount = 5;
isHoodDetectionEnabled = true;
isRoomDetectionEnabled = true;
rgbVideoManipulation = VIDEO_NONE;
depthVideoManipulation = VIDEO_NONE;
roomHeightManipulation = 0.85f;
SetPropertyInt(HOOD_SCANLINE_NUMBER_PROPERTY, hoodScanLineNumber);
SetPropertyBool(HOOD_SCANLINE_NUMBER_PROPERTY NSSUBPROP_REQUIRED, tTrue);
SetPropertyStr(HOOD_SCANLINE_NUMBER_PROPERTY NSSUBPROP_DESCRIPTION, "Number of hood scanlines");
SetPropertyInt(HOOD_SCANLINE_NUMBER_PROPERTY NSSUBPROP_MIN, 0);
SetPropertyFloat(ROOM_HEIGHT_MANIPULATION_PROPERTY, roomHeightManipulation);
SetPropertyBool(ROOM_HEIGHT_MANIPULATION_PROPERTY NSSUBPROP_REQUIRED, tTrue);
SetPropertyStr(ROOM_HEIGHT_MANIPULATION_PROPERTY NSSUBPROP_DESCRIPTION, "Reduces the room height by the given percentage");
SetPropertyFloat(ROOM_HEIGHT_MANIPULATION_PROPERTY NSSUBPROP_MIN, 0);
SetPropertyFloat(ROOM_HEIGHT_MANIPULATION_PROPERTY NSSUBPROP_MAX, 1);
SetPropertyInt(ROOM_SCANLINE_NUMBER_PROPERTY, roomScanLineNumber);
SetPropertyBool(ROOM_SCANLINE_NUMBER_PROPERTY NSSUBPROP_REQUIRED, tTrue);
SetPropertyStr(ROOM_SCANLINE_NUMBER_PROPERTY NSSUBPROP_DESCRIPTION, "Number of room scanlines");
SetPropertyInt(ROOM_SCANLINE_NUMBER_PROPERTY NSSUBPROP_MIN, 0);
SetPropertyInt(MAX_HOOD_DETECTION_COUNT_PROPERTY, maxHoodDetectionCount);
SetPropertyBool(MAX_HOOD_DETECTION_COUNT_PROPERTY NSSUBPROP_REQUIRED, tTrue);
SetPropertyStr(MAX_HOOD_DETECTION_COUNT_PROPERTY NSSUBPROP_DESCRIPTION, "Max hood detection dount");
SetPropertyInt(MAX_HOOD_DETECTION_COUNT_PROPERTY NSSUBPROP_MIN, 0);
SetPropertyBool(DETECT_HOOD_PROPERTY, isHoodDetectionEnabled);
SetPropertyBool(DETECT_HOOD_PROPERTY NSSUBPROP_REQUIRED, tTrue);
SetPropertyStr(DETECT_HOOD_PROPERTY NSSUBPROP_DESCRIPTION, "Detect hood");
SetPropertyBool(DETECT_ROOM_PROPERTY, isRoomDetectionEnabled);
SetPropertyBool(DETECT_ROOM_PROPERTY NSSUBPROP_REQUIRED, tTrue);
SetPropertyStr(DETECT_ROOM_PROPERTY NSSUBPROP_DESCRIPTION, "Detect room");
SetPropertyInt(RGB_VIDEO_MANIPULATION_PROPERTY, rgbVideoManipulation);
SetPropertyBool(RGB_VIDEO_MANIPULATION_PROPERTY NSSUBPROP_REQUIRED, tTrue);
SetPropertyStr(RGB_VIDEO_MANIPULATION_PROPERTY NSSUBPROP_VALUELIST, "1@None|2@Crop|3@Rect");
SetPropertyStr(RGB_VIDEO_MANIPULATION_PROPERTY NSSUBPROP_DESCRIPTION, "Defines method which is used to manipulate the RGB image");
SetPropertyInt(DEPTH_VIDEO_MANIPULATION_PROPERTY, depthVideoManipulation);
SetPropertyBool(DEPTH_VIDEO_MANIPULATION_PROPERTY NSSUBPROP_REQUIRED, tTrue);
SetPropertyStr(DEPTH_VIDEO_MANIPULATION_PROPERTY NSSUBPROP_VALUELIST, "1@None|2@Crop|3@Rect");
SetPropertyStr(DEPTH_VIDEO_MANIPULATION_PROPERTY NSSUBPROP_DESCRIPTION, "Defines method which is used to manipulate the Depth image");
}
cJuryTransmitter::cJuryTransmitter(const tChar* __info) :
QObject(),
cBaseQtFilter(__info),
m_bDebugModeEnabled(false),
m_last_entryId(-1)
{
m_last_timestamp=0,
m_last_entryId=0,
SetPropertyBool("Debug Output to Console",false);
SetPropertyInt("Send time interval in sec",1);
SetPropertyStr("ManeuverFile", "");
SetPropertyBool("ManeuverFile" NSSUBPROP_FILENAME, tTrue);
SetPropertyStr("ManeuverFile" NSSUBPROP_FILENAME NSSUBSUBPROP_EXTENSIONFILTER, "XML Files (*.xml)");
}
CarFollower::CarFollower(const tChar *info) : cFilter(info),m_hTimer(NULL),logger(OID_SR_CARFOLLOWER)
{
m_firstTime = tTrue;
SetPropertyInt(PROP_CYCLETIME, 500);
SetPropertyBool(PROP_CYCLETIME NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(PROP_CYCLETIME NSSUBPROP_DESCRIPTION, "The control step for the local sequence timer.");
SetPropertyFloat(PROP_SPACING, 0.5);
SetPropertyBool(PROP_SPACING NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(PROP_SPACING NSSUBPROP_DESCRIPTION, "The spacing maximum between cars");
SetPropertyFloat(PROP_SPEEDSPACING, 1.0);
SetPropertyBool(PROP_SPEEDSPACING NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(PROP_SPEEDSPACING NSSUBPROP_DESCRIPTION, "The speed to compensate distance between cars");
}
cJuryModule::cJuryModule(const tChar* __info) :
QObject(),
cBaseQtFilter(__info),
m_bDebugModeEnabled(tFalse),
m_ilastEntryId(-1)
{
m_last_timestamp=0,
m_ilastEntryId=0,
SetPropertyBool("Debug Output to Console",tFalse);
SetPropertyStr("Debug Output to Console" NSSUBPROP_DESCRIPTION, "If enabled additional debug information is printed to the console (Warning: decreases performance)");
SetPropertyInt("Send time interval in sec",1);
SetPropertyStr("Send time interval in sec" NSSUBPROP_DESCRIPTION, "Specifies the time between two send media samples in sec");
SetPropertyStr("ManeuverFile", "");
SetPropertyBool("ManeuverFile" NSSUBPROP_FILENAME, tTrue);
SetPropertyStr("ManeuverFile" NSSUBPROP_FILENAME NSSUBSUBPROP_EXTENSIONFILTER, "XML Files (*.xml)");
SetPropertyStr("ManeuverFile" NSSUBPROP_DESCRIPTION, "Here you have to set the maneuver file of type xml to be used in this filter. For further specification refer to the Manueal");
}
tVoid CurveDetector::initProperties()
{
// Canny threshold 1
this->thresholdCanny1 = 100;
SetPropertyInt(PROP_NAME_CANNY_THRESHOLD_1, this->thresholdCanny1);
SetPropertyInt(PROP_NAME_CANNY_THRESHOLD_1 NSSUBPROP_MINIMUM, 0);
SetPropertyInt(PROP_NAME_CANNY_THRESHOLD_1 NSSUBPROP_MAXIMUM, 255);
SetPropertyBool(PROP_NAME_CANNY_THRESHOLD_1 NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool(PROP_NAME_CANNY_THRESHOLD_1 NSSUBPROP_ISCHANGEABLE, tTrue);
// Canny threshold 2
this->thresholdCanny2 = 150;
SetPropertyInt(PROP_NAME_CANNY_THRESHOLD_2, this->thresholdCanny2);
SetPropertyInt(PROP_NAME_CANNY_THRESHOLD_2 NSSUBPROP_MINIMUM, 0);
SetPropertyInt(PROP_NAME_CANNY_THRESHOLD_2 NSSUBPROP_MAXIMUM, 255);
SetPropertyBool(PROP_NAME_CANNY_THRESHOLD_2 NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool(PROP_NAME_CANNY_THRESHOLD_2 NSSUBPROP_ISCHANGEABLE, tTrue);
}
PIDController::PIDController(const tChar* __info) : cFilter(__info), m_f64LastMeasuredError(0), m_f64SetPoint(0), m_lastSampleTime(0),m_f64LastSpeedValue(0)
{
SetPropertyFloat(WSC_PROP_PID_KP,1.5);
SetPropertyBool(WSC_PROP_PID_KP NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(WSC_PROP_PID_KP NSSUBPROP_DESCRIPTION, "The proportional factor Kp for the PID Controller");
SetPropertyFloat(WSC_PROP_PID_KI,1.5);
SetPropertyBool(WSC_PROP_PID_KI NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(WSC_PROP_PID_KI NSSUBPROP_DESCRIPTION, "The integral factor Ki for the PID Controller");
SetPropertyFloat(WSC_PROP_PID_KD,1);
SetPropertyBool(WSC_PROP_PID_KD NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(WSC_PROP_PID_KD NSSUBPROP_DESCRIPTION, "The differential factor Kd for the PID Controller");
SetPropertyFloat(WSC_PROP_PID_SAMPLE_TIME,0.025);
SetPropertyBool(WSC_PROP_PID_SAMPLE_TIME NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(WSC_PROP_PID_SAMPLE_TIME NSSUBPROP_DESCRIPTION, "The sample interval in msec used by the PID controller");
SetPropertyFloat(WSC_PROP_PID_MAXOUTPUT,2.5);
SetPropertyBool(WSC_PROP_PID_MAXOUTPUT NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(WSC_PROP_PID_MAXOUTPUT NSSUBPROP_DESCRIPTION, "The maximum allowed output for the wheel speed controller (speed in m/sec^2)");
SetPropertyFloat(WSC_PROP_PID_MINOUTPUT,-2.5);
SetPropertyBool(WSC_PROP_PID_MINOUTPUT NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(WSC_PROP_PID_MINOUTPUT NSSUBPROP_DESCRIPTION, "The minimum allowed output for the wheel speed controller (speed in m/sec^2)");
SetPropertyInt(WSC_PROP_PID_WINDUP, 3);
SetPropertyStr(WSC_PROP_PID_WINDUP NSSUBPROP_DESCRIPTION, "Method for Anti Windup (1: Off, 2: Reset integral term, 3: Stabilize integral term)");
SetPropertyStr(WSC_PROP_PID_WINDUP NSSUBPROP_VALUELISTNOEDIT, "1@No|2@Reset|3@Stabilize");
SetPropertyBool(WSC_PROP_PID_SETZERO, tTrue);
SetPropertyBool(WSC_PROP_PID_SETZERO NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(WSC_PROP_PID_SETZERO NSSUBPROP_DESCRIPTION, "True: When Setpoint is zero, Output is set to zero (AADC default True)");
SetPropertyBool(WSC_PROP_PID_USEDIRINPUT, tTrue);
SetPropertyBool(WSC_PROP_PID_USEDIRINPUT NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(WSC_PROP_PID_USEDIRINPUT NSSUBPROP_DESCRIPTION, "True: Use car speed direction info based on set speed input, False: use measured input for direction info");
SetPropertyBool(WSC_PROP_DEBUG_MODE, tFalse);
SetPropertyStr(WSC_PROP_DEBUG_MODE NSSUBPROP_DESCRIPTION, "If true debug infos are plotted to registry");
SetPropertyFloat(WSC_PROP_PT1_OUTPUT_FACTOR, 1);
SetPropertyBool(WSC_PROP_PT1_OUTPUT_FACTOR NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(WSC_PROP_PT1_OUTPUT_FACTOR NSSUBPROP_DESCRIPTION, "The factor to normalize the output value");
SetPropertyFloat(WSC_PROP_PT1_TIMECONSTANT, 1.5);
SetPropertyBool(WSC_PROP_PT1_TIMECONSTANT NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(WSC_PROP_PT1_TIMECONSTANT NSSUBPROP_DESCRIPTION, "Time Constant for PT1 Controller");
SetPropertyFloat(WSC_PROP_PT1_CORRECTION_FACTOR, 1.15);
SetPropertyBool(WSC_PROP_PT1_CORRECTION_FACTOR NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(WSC_PROP_PT1_CORRECTION_FACTOR NSSUBPROP_DESCRIPTION, "Correction factor for input set point");
SetPropertyFloat(WSC_PROP_PT1_GAIN, 6);
SetPropertyBool(WSC_PROP_PT1_GAIN NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(WSC_PROP_PT1_GAIN NSSUBPROP_DESCRIPTION, "Gain for PT1 Controller");
SetPropertyInt("Controller Typ", 2);
SetPropertyStr("Controller Typ" NSSUBPROP_VALUELISTNOEDIT, "1@P|2@PI|3@PID|4@PT1");
//m_pISignalRegistry = NULL;
}
// -------------------------------------------------------------------------------------------------
EmergencyFilter::EmergencyFilter(const tChar* __info) : adtf::cFilter(__info) {
// -------------------------------------------------------------------------------------------------
SetPropertyBool("debug", false);
SetPropertyBool("Send hazard lights", true);
SetPropertyInt("Front distance threshold", 50);
}
cMarkerDetectFilter::cMarkerDetectFilter(const tChar* __info):cFilter(__info)
{
UCOM_REGISTER_TIMING_SPOT(cString(OIGetInstanceName()) + "::Process::Start", m_oProcessStart);
flagtoreducespeed = tFalse;
f32Areatoreducespeed = 400;
var_lan_acc_input = 90.0f;
var_lan_acc_output = 90.0f;
global_i = 0;
var_finish_flag = tTrue;
FrameCount = 0;
ManeuverJuryID = MANEUVER_INTERSECTION_DEFAULT;
var_maneuver_id = TestArray[global_i];//(tFloat32)MANEUVER_INTERSECTION_RIGHT; //TestArray[global_i]; //global_i = 0;
SetPropertyBool(MD_ENABLE_IMSHOW,tFalse);
SetPropertyBool(MD_ENABLE_IMSHOW NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_ENABLE_IMSHOW NSSUBPROP_DESCRIPTION, "If true imshow will be enabled");
SetPropertyBool(MD_ENABLE_IMSHOW_VER,tFalse);
SetPropertyBool(MD_ENABLE_IMSHOW_VER NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_ENABLE_IMSHOW_VER NSSUBPROP_DESCRIPTION, "If true imshow will be enabled for vertical lines");
SetPropertyBool("Debug Output to Console", tFalse);
SetPropertyStr("Debug Output to Console" NSSUBPROP_DESCRIPTION, "If enabled additional debug information is printed to the console (Warning: decreases performance).");
//RETURN_NOERROR;
SetPropertyStr("Dictionary File For Markers","");
SetPropertyBool("Dictionary File For Markers" NSSUBPROP_FILENAME, tTrue);
SetPropertyStr("Dictionary File For Markers" NSSUBPROP_FILENAME NSSUBSUBPROP_EXTENSIONFILTER, "YML Files (*.yml)");
SetPropertyStr("Dictionary File For Markers" NSSUBPROP_DESCRIPTION, "Here you have to set the dicitionary file which holds the marker ids and their content");
SetPropertyStr("Calibration File for used Camera","");
SetPropertyBool("Calibration File for used Camera" NSSUBPROP_FILENAME, tTrue);
SetPropertyStr("Calibration File for used Camera" NSSUBPROP_FILENAME NSSUBSUBPROP_EXTENSIONFILTER, "YML Files (*.yml)");
SetPropertyStr("Calibration File for used Camera" NSSUBPROP_DESCRIPTION, "Here you have to set the file with calibration paraemters of the used camera");
SetPropertyInt("Video Output Pin",1);
SetPropertyStr("Video Output Pin" NSSUBPROP_VALUELIST, "1@None|2@Detected Signs|");
SetPropertyStr("Video Output Pin" NSSUBPROP_DESCRIPTION, "If enabled the video stream with the highlighted markers is transmitted at the output pin (Warning: decreases performance).");
SetPropertyFloat("Size of Markers",0.117f);
SetPropertyStr("Size of Markers" NSSUBPROP_DESCRIPTION, "Size (length of one side) of markers in m");
SetPropertyFloat(MD_REQUIRED_MARKER_SIZE, 900.0);
SetPropertyBool(MD_REQUIRED_MARKER_SIZE NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_REQUIRED_MARKER_SIZE NSSUBPROP_DESCRIPTION, "MarkerDetection::The marker size above which manuevers processing starts");
SetPropertyInt(MD_COUNT, 2);
SetPropertyBool(MD_COUNT NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_COUNT NSSUBPROP_DESCRIPTION, "MarkerDetection::Minimum number of lines to be detected for markers to be considered");
SetPropertyInt(MD_RANGE_ROWS_R1, 0);
SetPropertyBool(MD_RANGE_ROWS_R1 NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_RANGE_ROWS_R1 NSSUBPROP_DESCRIPTION, "MarkerDetection::The first row R1 to be taken (R1,) (R2,)");
SetPropertyInt(MD_RANGE_ROWS_R2, 250);
SetPropertyBool(MD_RANGE_ROWS_R2 NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_RANGE_ROWS_R2 NSSUBPROP_DESCRIPTION,"MarkerDetection::The second row R2 to be taken (R1,) (R2,)");
SetPropertyInt(MD_RANGE_COLS_C1, 0);
SetPropertyBool(MD_RANGE_COLS_C1 NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_RANGE_COLS_C1 NSSUBPROP_DESCRIPTION, "MarkerDetection::The first col C1 to be taken (,C1) (,C2)");
SetPropertyInt(MD_RANGE_COLS_C2, 250);
SetPropertyBool(MD_RANGE_COLS_C2 NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_RANGE_COLS_C2 NSSUBPROP_DESCRIPTION, "MarkerDetection::The second col C2 to be taken (,C1) (,C2)");
SetPropertyInt(MD_RANGE_ROWS_R1_L, 20);
SetPropertyBool(MD_RANGE_ROWS_R1_L NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_RANGE_ROWS_R1_L NSSUBPROP_DESCRIPTION, "LineDetection::The first row R1 to be taken (R1,) (R2,)");
SetPropertyInt(MD_RANGE_ROWS_R2_L, 50);
SetPropertyBool(MD_RANGE_ROWS_R2_L NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_RANGE_ROWS_R2_L NSSUBPROP_DESCRIPTION,"LineDetection::The second row R2 to be taken (R1,) (R2,)");
SetPropertyInt(MD_RANGE_COLS_C1_L, 90);
SetPropertyBool(MD_RANGE_COLS_C1_L NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_RANGE_COLS_C1_L NSSUBPROP_DESCRIPTION, "LineDetection::The first col C1 to be taken (,C1) (,C2)");
SetPropertyInt(MD_RANGE_COLS_C2_L, 20);
SetPropertyBool(MD_RANGE_COLS_C2_L NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_RANGE_COLS_C2_L NSSUBPROP_DESCRIPTION, "LineDetection::The second col C2 to be taken (,C1) (,C2)");
SetPropertyInt(MD_RANGE_ROWS_R1_VER, 30);
SetPropertyBool(MD_RANGE_ROWS_R1_VER NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_RANGE_ROWS_R1_VER NSSUBPROP_DESCRIPTION, "LineDetection_VER::Theq first row R1 to be taken (R1,) (R2,)");
SetPropertyInt(MD_RANGE_ROWS_R2_VER, 60);
SetPropertyBool(MD_RANGE_ROWS_R2_VER NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_RANGE_ROWS_R2_VER NSSUBPROP_DESCRIPTION,"LineDetection_VER::Theq second row R2 to be taken (R1,) (R2,)");
SetPropertyInt(MD_RANGE_COLS_C1_VER, 30);
SetPropertyBool(MD_RANGE_COLS_C1_VER NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_RANGE_COLS_C1_VER NSSUBPROP_DESCRIPTION, "LineDetection_VER::Theq first col C1 to be taken (,C1) (,C2)");
SetPropertyInt(MD_RANGE_COLS_C2_VER, 60);
SetPropertyBool(MD_RANGE_COLS_C2_VER NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_RANGE_COLS_C2_VER NSSUBPROP_DESCRIPTION, "LineDetection_VER::Theq second col C2 to be taken (,C1) (,C2)");
SetPropertyInt(MD_GREY_TRESHOLD, 100);
SetPropertyBool(MD_GREY_TRESHOLD NSSUBPROP_ISCHANGEABLE, tTrue);
SetPropertyStr(MD_GREY_TRESHOLD NSSUBPROP_DESCRIPTION, "The threshold value for canny to detect lines.");
UCOM_REGISTER_TIMING_SPOT(cString(OIGetInstanceName()) + "::Process::End", m_oProcessEnd);
}
tVoid cSimpleFusion::initProperties()
{
//
stateOfLongeRangeInputPin = 1;
SetPropertyInt(PROP_NAME_IR_LONGE_RANGE_INPUT_PIN_ACTIVE, stateOfLongeRangeInputPin);
SetPropertyStr(PROP_NAME_IR_LONGE_RANGE_INPUT_PIN_ACTIVE NSSUBPROP_VALUELISTNOEDIT, "1@1|2@0");
SetPropertyStr(PROP_NAME_IR_LONGE_RANGE_INPUT_PIN_ACTIVE NSSUBPROP_DESCRIPTION, "Choose 1 for active/ 0 for inactive");
SetPropertyBool(PROP_NAME_IR_LONGE_RANGE_INPUT_PIN_ACTIVE NSSUBPROP_ISCHANGEABLE, tTrue);
//
stateOfShortRangeInputPin1 = 1;
SetPropertyInt(PROP_NAME_IR_SHORT_RANGE_1_INPUT_PIN_ACTIVE, stateOfShortRangeInputPin1);
SetPropertyStr(PROP_NAME_IR_SHORT_RANGE_1_INPUT_PIN_ACTIVE NSSUBPROP_VALUELISTNOEDIT, "1@1|2@0");
SetPropertyStr(PROP_NAME_IR_SHORT_RANGE_1_INPUT_PIN_ACTIVE NSSUBPROP_DESCRIPTION, "Choose 1 for active/ 0 for inactive");
SetPropertyBool(PROP_NAME_IR_SHORT_RANGE_1_INPUT_PIN_ACTIVE NSSUBPROP_ISCHANGEABLE, tTrue);
//
stateOfShortRangeInputPin2 = 1;
SetPropertyInt(PROP_NAME_IR_SHORT_RANGE_2_INPUT_PIN_ACTIVE, stateOfShortRangeInputPin2);
SetPropertyStr(PROP_NAME_IR_SHORT_RANGE_2_INPUT_PIN_ACTIVE NSSUBPROP_VALUELISTNOEDIT, "1@1|2@0");
SetPropertyStr(PROP_NAME_IR_SHORT_RANGE_2_INPUT_PIN_ACTIVE NSSUBPROP_DESCRIPTION, "Choose 1 for active/ 0 for inactive");
SetPropertyBool(PROP_NAME_IR_SHORT_RANGE_2_INPUT_PIN_ACTIVE NSSUBPROP_ISCHANGEABLE, tTrue);
//
stateOfUSLeftInputPin = 1;
SetPropertyInt(PROP_NAME_US_LEFT_INPUT_PIN_ACTIVE, stateOfUSLeftInputPin);
SetPropertyStr(PROP_NAME_US_LEFT_INPUT_PIN_ACTIVE NSSUBPROP_VALUELISTNOEDIT, "1@1|2@0");
SetPropertyStr(PROP_NAME_US_LEFT_INPUT_PIN_ACTIVE NSSUBPROP_DESCRIPTION, "Choose 1 for active/ 0 for inactive");
SetPropertyBool(PROP_NAME_US_LEFT_INPUT_PIN_ACTIVE NSSUBPROP_ISCHANGEABLE, tTrue);
//
stateOfUSRightInputPin = 1;
SetPropertyInt(PROP_NAME_US_RIGHT_INPUT_PIN_ACTIVE, stateOfUSRightInputPin);
SetPropertyStr(PROP_NAME_US_RIGHT_INPUT_PIN_ACTIVE NSSUBPROP_VALUELISTNOEDIT, "1@1|2@0");
SetPropertyStr(PROP_NAME_US_RIGHT_INPUT_PIN_ACTIVE NSSUBPROP_DESCRIPTION, "Choose 1 for active/ 0 for inactive");
SetPropertyBool(PROP_NAME_US_RIGHT_INPUT_PIN_ACTIVE NSSUBPROP_ISCHANGEABLE, tTrue);
// Schwellwerte IR-Longrange
thresholdIRLongRange = 20;
SetPropertyInt(PROP_NAME_IR_LONG_RANGE_THRESHOLD, thresholdIRLongRange);
SetPropertyInt(PROP_NAME_IR_LONG_RANGE_THRESHOLD NSSUBPROP_MINIMUM, 0);
SetPropertyInt(PROP_NAME_IR_LONG_RANGE_THRESHOLD NSSUBPROP_MAXIMUM, 255);
SetPropertyBool(PROP_NAME_IR_LONG_RANGE_THRESHOLD NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool(PROP_NAME_IR_LONG_RANGE_THRESHOLD NSSUBPROP_ISCHANGEABLE, tTrue);
// Schwellwerte IR-Shortrange
thresholdIRShortRange = 8;
SetPropertyInt(PROP_NAME_IR_SHORT_RANGE_THRESHOLD, thresholdIRShortRange);
SetPropertyInt(PROP_NAME_IR_SHORT_RANGE_THRESHOLD NSSUBPROP_MINIMUM, 0);
SetPropertyInt(PROP_NAME_IR_SHORT_RANGE_THRESHOLD NSSUBPROP_MAXIMUM, 255);
SetPropertyBool(PROP_NAME_IR_SHORT_RANGE_THRESHOLD NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool(PROP_NAME_IR_SHORT_RANGE_THRESHOLD NSSUBPROP_ISCHANGEABLE, tTrue);
// Schwellwerte Ultaschal sensor(US)
thresholdUS = 20;
SetPropertyInt(PROP_NAME_US_THRESHOLD, thresholdUS);
SetPropertyInt(PROP_NAME_US_THRESHOLD NSSUBPROP_MINIMUM, 0);
SetPropertyInt(PROP_NAME_US_THRESHOLD NSSUBPROP_MAXIMUM, 255);
SetPropertyBool(PROP_NAME_US_THRESHOLD NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool(PROP_NAME_US_THRESHOLD NSSUBPROP_ISCHANGEABLE, tTrue);
// Median for using by the median-filter
lengthOfMedianVector = 7;
SetPropertyInt(PROP_NAME_MEDIAN, lengthOfMedianVector);
SetPropertyInt(PROP_NAME_MEDIAN NSSUBPROP_MINIMUM, 1);
SetPropertyInt(PROP_NAME_MEDIAN NSSUBPROP_MAXIMUM, 20);
SetPropertyBool(PROP_NAME_MEDIAN NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool(PROP_NAME_MEDIAN NSSUBPROP_ISCHANGEABLE, tTrue);
}
Test::Test(const char *__info) : cFilter(__info)
{
this->isFirstFrame = true;
this->isStopLineFound = false;
this->isConnectedToServer = false;
this->crossroadDetector.reset(new CrossRoadDetector());
this->driveAlgorithm.reset(new DriveAlgorithm());
this->tcpClient.reset(new Client());
this->stopOnStopLine = false;
this->tcpServer.reset(new Server(60000));
this->ip = "192.168.1.253";
SetPropertyStr(PROP_NAME_IP, this->ip.c_str());
SetPropertyBool(PROP_NAME_IP NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool(PROP_NAME_IP NSSUBPROP_ISCHANGEABLE, tTrue);
this->numberOfStopLines = 20;
SetPropertyInt(PROP_NAME_STOP_LINES, this->numberOfStopLines);
SetPropertyInt(PROP_NAME_STOP_LINES NSSUBPROP_MIN, 1);
SetPropertyInt(PROP_NAME_STOP_LINES NSSUBPROP_MAX, 1000);
SetPropertyBool(PROP_NAME_STOP_LINES NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool(PROP_NAME_STOP_LINES NSSUBPROP_ISCHANGEABLE, tTrue);
this->delay = 100000;
SetPropertyInt(PROP_NAME_DELAY, this->delay);
SetPropertyInt(PROP_NAME_DELAY NSSUBPROP_MIN, 1);
SetPropertyInt(PROP_NAME_DELAY NSSUBPROP_MAX, 1000);
SetPropertyBool(PROP_NAME_DELAY NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool(PROP_NAME_DELAY NSSUBPROP_ISCHANGEABLE, tTrue);
this->driveSpeed = 30;
SetPropertyInt(PROP_NAME_DRIVE_SPEED, this->driveSpeed);
SetPropertyInt(PROP_NAME_DRIVE_SPEED NSSUBPROP_MIN, 1);
SetPropertyInt(PROP_NAME_DRIVE_SPEED NSSUBPROP_MAX, 1000);
SetPropertyBool(PROP_NAME_DRIVE_SPEED NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool(PROP_NAME_DRIVE_SPEED NSSUBPROP_ISCHANGEABLE, tTrue);
this->smoothCurveValue = 7;
SetPropertyInt(PROP_NAME_SMOOTH_CURVE_VALUE, this->smoothCurveValue);
SetPropertyInt(PROP_NAME_SMOOTH_CURVE_VALUE NSSUBPROP_MIN, 1);
SetPropertyInt(PROP_NAME_SMOOTH_CURVE_VALUE NSSUBPROP_MAX, 1000);
SetPropertyBool(PROP_NAME_SMOOTH_CURVE_VALUE NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool(PROP_NAME_SMOOTH_CURVE_VALUE NSSUBPROP_ISCHANGEABLE, tTrue);
this->ticksToStopLine = 10;
SetPropertyInt(PROP_NAME_TICKS_TO_STOP_LINE, this->ticksToStopLine);
SetPropertyInt(PROP_NAME_TICKS_TO_STOP_LINE NSSUBPROP_MIN, 1);
SetPropertyInt(PROP_NAME_TICKS_TO_STOP_LINE NSSUBPROP_MAX, 1000);
SetPropertyBool(PROP_NAME_TICKS_TO_STOP_LINE NSSUBPROP_REQUIRED, tTrue);
SetPropertyBool(PROP_NAME_TICKS_TO_STOP_LINE NSSUBPROP_ISCHANGEABLE, tTrue);
}
