// Call back Declaration ReturnType CNR_7DOFAnalyticInverseKinematicsComp::onInitialize() { Property parameter; std::map<std::string, std::string> temp = getPropertyMap(); parameter.SetProperty(temp); if(SetParameter(parameter) == false) { return OPROS_CALLER_ERROR; } return OPROS_SUCCESS; }
// Call back Declaration ReturnType KITECH_LinearTrajectoryGenerationComp::onInitialize() { Property parameter; std::map<std::string, std::string> temp = getPropertyMap(); parameter.SetProperty(temp); if(SetParameter(parameter) == false) { return OPROS_CALLER_ERROR; } return OPROS_SUCCESS; }
// Call back Declaration ReturnType KITECH_InverseDynamicsControlComp::onInitialize() { Property parameter; std::map<std::string, std::string> temp = getPropertyMap(); parameter.SetProperty(temp); if(SetParameter(parameter) == false) { return OPROS_CALLER_ERROR; } return OPROS_SUCCESS; }
ReturnType KITECH_MonotoneCubicTrajectoryGenerationComp::onStart() { Property parameter; std::map<std::string, std::string> temp = getPropertyMap(); parameter.SetProperty(temp); if(SetParameter(parameter) == false) { return OPROS_CALLER_ERROR; } return OPROS_SUCCESS; }
// Call back Declaration ReturnType KitechSurfObjectRecognitionComp::onInitialize() { PrintMessage ("KitechSurfObjectRecognitionComp::onInitialize()\n"); std::map<std::string, std::string> temp = getPropertyMap(); parameter.SetProperty(temp); if(parameter.FindName("DBName") == false) { PrintMessage("ERROR : KitechSurfObjectRecognitionComp::onInitialize() -> Can't find the DBName in property\n"); return OPROS_FIND_PROPERTY_ERROR; } return OPROS_SUCCESS; }
// Call back Declaration ReturnType KITECH_MonteCarloLocalizationComp::onInitialize() { PrintMessage ("KITECH_MonteCarloLocalizationComp::onInitialize()\n"); parameter.SetProperty(getPropertyMap()); if (!LoadProperty ()) { return OPROS_FIND_PROPERTY_ERROR; } error = 0; return OPROS_SUCCESS; }
// Call back Declaration ReturnType KITECH_OccupancyGridGlobalMapComp::onInitialize() { PrintMessage ("KITECH_OccupancyGridGlobalMapComp::onInitialize()\n"); parameter.SetProperty(getPropertyMap()); if (!LoadProperty()) { error = -1; return OPROS_FIND_PROPERTY_ERROR; } occupancyGridMap = new OccupancyGridMap (mapWidth, mapHeight, mapResolution, laserSensorCount, laserSensorStartAngle, laserSensorEndAngle, laserSensorMinimumRange, laserSensorMaximumRange); if (occupancyGridMap == NULL) { error = -1; return OPROS_INTERNAL_FAULT; } error = 0; return OPROS_SUCCESS; }
/** * Initializes ICEupdater by creating the property map and setting threadCreated to false. * Called only from the constructors. * * @param propertyString A string formatted as a Java properties file containing name/value pairs. */ void Updater::initialize(std::string propertyString) { // Get the map of configuration properties propertyMap = getPropertyMap(propertyString); // Set threadCreated to false threadCreated = false; // Set the ignoreSslPeerVerification flag to false by default ignoreSslPeerVerification = false; // Create an ErrorLoggerPtr object. errorLoggerPtr = ErrorLoggerPtr(new ErrorLogger()); // Validate the propertyMap and store the results goodPropertyMap = validatePropertyMap(); // If the propertyMap was not successfully validated, // dump the errors into an error file. if (!goodPropertyMap) errorLoggerPtr->dumpErrors(); }
// Call back Declaration ReturnType GyroSensorComp::onInitialize() { Property parameter; std::map<std::string, std::string> temp = getPropertyMap(); parameter.SetProperty(temp); if(parameter.FindName("ApiName") == false) { PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't find the APIName in property\n"); return lastError = OPROS_FIND_PROPERTY_ERROR; } #if defined(WIN32) // DLL 로드 hOprosAPI = LoadLibrary((LPCSTR)parameter.GetValue("ApiName").c_str()); if(hOprosAPI == NULL) { PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't find the %s\n", parameter.GetValue("ApiName").c_str()); return lastError = OPROS_FIND_DLL_ERROR; } // API 로드 GET_OPROS_API getOprosAPI; getOprosAPI = (GET_OPROS_API)GetProcAddress(hOprosAPI, "GetAPI"); if(getOprosAPI == NULL) { PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't get a handle of GetAPI Funtion\n"); FreeLibrary(hOprosAPI); hOprosAPI = NULL; return lastError = OPROS_LOAD_DLL_ERROR; } // API Casting gyroSensor = dynamic_cast<GyroSensor *>(getOprosAPI()); if(gyroSensor == NULL) { PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't get a handle of AccelerationSensor API\n"); FreeLibrary(hOprosAPI); hOprosAPI = NULL; return lastError = OPROS_LOAD_DLL_ERROR; } #else // Shared Library 로드 hOprosAPI = dlopen(parameter.GetValue("ApiName").c_str(), RTLD_NOW); if(hOprosAPI == NULL) { PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't find the %s\n", parameter.GetValue("ApiName").c_str()); return lastError = OPROS_FIND_DLL_ERROR; } // API 로드 GET_OPROS_API getOprosAPI = (GET_OPROS_API)dlsym(hOprosAPI, "GetAPI"); char *error = dlerror(); if(error != NULL) { PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't get a handle of GetAPI Funtion\n"); dlclose(hOprosAPI); hOprosAPI = NULL; return lastError = OPROS_LOAD_DLL_ERROR; } // API Casting gyroSensor = static_cast<GyroSensor *>(getOprosAPI()); if(gyroSensor == NULL) { PrintMessage("ERROR : GyroSensorComp::onInitialize() -> Can't get a handle of AccelerationSensor API\n"); dlclose(hOprosAPI); hOprosAPI = NULL; return lastError = OPROS_LOAD_DLL_ERROR; } #endif if(gyroSensor->Initialize(parameter) != API_SUCCESS) { delete gyroSensor; gyroSensor = NULL; #if defined(WIN32) FreeLibrary(hOprosAPI); #else dlclose(hOprosAPI); #endif hOprosAPI = NULL; return lastError = OPROS_INITIALIZE_API_ERROR; } return lastError = OPROS_SUCCESS; }
// Call back Declaration ReturnType KitechSkinColorFaceRecognitionComp::onInitialize() { std::map<std::string, std::string> temp = getPropertyMap(); parameter.SetProperty(temp); return OPROS_SUCCESS; }
// Call back Declaration ReturnType JoystickComp::onInitialize() { // XML에 저장된 프라퍼티를 parameter에 저장 Property parameter; std::map<std::string, std::string> temp = getPropertyMap(); parameter.SetProperty(temp); // dll 파일이름을 확인하여 없으면 에러 리턴 if(parameter.FindName("APIName") == false) { PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't find the APIName in property\n"); return OPROS_FIND_PROPERTY_ERROR; } #if defined(WIN32) // DLL 로드 hOprosAPI = LoadLibrary((LPCSTR)parameter.GetValue("APIName").c_str()); if(hOprosAPI == NULL) { PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't find the %s\n", parameter.GetValue("APIName").c_str()); return OPROS_FIND_DLL_ERROR; } // API 로드 GET_OPROS_API getOprosAPI; getOprosAPI = (GET_OPROS_API)GetProcAddress(hOprosAPI, "GetAPI"); if(getOprosAPI == NULL) { PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't get a handle of GetAPI Funtion\n"); FreeLibrary(hOprosAPI); hOprosAPI = NULL; return OPROS_LOAD_DLL_ERROR; } #else hOprosAPI = dlopen(parameter.GetValue("APIName").c_str(), RTLD_LAZY); if(hOprosAPI == NULL) { PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't find the %s\n", parameter.GetValue("APIName").c_str()); return OPROS_FIND_DLL_ERROR; } GET_OPROS_API getOprosAPI; getOprosAPI = (GET_OPROS_API)dlsym(hOprosAPI, "GetAPI"); char *lastError = dlerror(); if(lastError != NULL) { PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't get a handle of GetAPI Funtion\n"); dlclose(hOprosAPI); hOprosAPI = NULL; return OPROS_LOAD_DLL_ERROR; } #endif joystick = static_cast<Joystick *>(getOprosAPI()); if(joystick == NULL) { PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't get a handle of Joystick API\n"); #if defined(WIN32) FreeLibrary(hOprosAPI); #else dlclose(hOprosAPI); #endif hOprosAPI = NULL; return OPROS_LOAD_DLL_ERROR; } // API 초기화 if(joystick->Initialize(parameter) != API_SUCCESS) { PrintMessage("ERROR : JoystickComp::onInitialize() -> Can't intilaize a Joystick API\n"); delete joystick; joystick = NULL; #if defined(WIN32) FreeLibrary(hOprosAPI); #else dlclose(hOprosAPI); #endif hOprosAPI = NULL; return OPROS_INITIALIZE_API_ERROR; } lastError = OPROS_SUCCESS; PrintMessage("SUCCESS : JoystickComp::onInitialize()\n"); return OPROS_SUCCESS; }
// Call back Declaration ReturnType TCPIPComp::onInitialize() { // XML에 저장된 프라퍼티를 parameter에 저장 Property parameter; std::map<std::string, std::string> temp = getPropertyMap(); parameter.SetProperty(temp); // dll 파일이름을 확인하여 없으면 에러 리턴 if(parameter.FindName("APIName") == false) { PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't find the APIName in property\n"); return OPROS_FIND_PROPERTY_ERROR; } #if defined(WIN32) // Load a DLL hOprosAPI = LoadLibrary((LPCSTR)parameter.GetValue("APIName").c_str()); if(hOprosAPI == NULL) { PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't find the %s\n", parameter.GetValue("APIName").c_str()); return OPROS_FIND_DLL_ERROR; } // Load a API GET_OPROS_API getOprosAPI; getOprosAPI = (GET_OPROS_API)GetProcAddress(hOprosAPI, "GetAPI"); if(getOprosAPI == NULL) { PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't get a handle of GetAPI Funtion\n"); FreeLibrary(hOprosAPI); hOprosAPI = NULL; return OPROS_LOAD_DLL_ERROR; } #else // Load a shared library hOprosAPI = dlopen(parameter.GetValue("DllName").c_str(), RTLD_LAZY); if(hOprosAPI == NULL) { PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't find the %s\n", parameter.GetValue("DllName").c_str()); return OPROS_FIND_DLL_ERROR; } // Load a API GET_OPROS_API getOprosAPI; getOprosAPI = (GET_OPROS_API)dlsym(hOprosAPI, "GetAPI"); char *error = dlerror(); if(error != NULL) { PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't get a handle of GetAPI Funtion\n"); dlclose(hOprosAPI); hOprosAPI = NULL; return OPROS_LOAD_DLL_ERROR; } #endif tcpip = dynamic_cast<TCPIP *>(getOprosAPI()); if(tcpip == NULL) { PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't get a handle of TCPIP API\n"); #if defined(WIN32) FreeLibrary(hOprosAPI); #else dlclose(hOprosAPI); #endif hOprosAPI = NULL; return OPROS_LOAD_DLL_ERROR; } if(tcpip->Initialize(parameter) != API_SUCCESS) { PrintMessage("ERROR : TCPIPComp::onInitialize() -> Can't initialize a TCPIP API\n"); delete tcpip; tcpip = NULL; #if defined(WIN32) FreeLibrary(hOprosAPI); #else dlclose(hOprosAPI); #endif hOprosAPI = NULL; return OPROS_INITIALIZE_API_ERROR; } error = 0; return OPROS_SUCCESS; }
// Call back Declaration ReturnType KinectComp::onInitialize() { // XML에 저장된 프라퍼티를 parameter에 저장 std::map<std::string, std::string>& propertyMap = getPropertyMap(); Property parameter; parameter.SetProperty(propertyMap); // dll 파일이름을 확인하여 없으면 에러 리턴 if (parameter.FindName("APIName") == false) { PrintMessage(DEBUG_MESSAGE("Can't find the APIName in property").c_str()); return OPROS_FIND_PROPERTY_ERROR; } //DLL 로드 mhOprosAPI = LoadLibrary((LPCSTR)parameter.GetValue("APIName").c_str()); if (mhOprosAPI == NULL) { PrintMessage(DEBUG_MESSAGE("Can't get a handle of GetAPI Funtion").c_str()); PrintMessage(DEBUG_MESSAGE("Can't get a DLL").c_str()); return OPROS_FIND_DLL_ERROR; } //API 로드 GET_OPROS_API getOprosAPI = (GET_OPROS_API)GetProcAddress(mhOprosAPI, "GetAPI"); if (getOprosAPI == NULL) { PrintMessage(DEBUG_MESSAGE("Can't get a handle of GetAPI Funtion").c_str()); PrintMessage(DEBUG_MESSAGE("Can't load API").c_str()); FreeLibrary(mhOprosAPI); mhOprosAPI = NULL; return OPROS_LOAD_DLL_ERROR; } mpKinect = dynamic_cast<Kinect *>(getOprosAPI()); if(mpKinect == NULL) { PrintMessage(DEBUG_MESSAGE("Can't get a handle of Kinect API").c_str()); PrintMessage(DEBUG_MESSAGE("Can't get a Casting").c_str()); FreeLibrary(mhOprosAPI); mhOprosAPI = NULL; return OPROS_LOAD_DLL_ERROR; } //API 초기화 if(mpKinect->Initialize(parameter) != API_SUCCESS) { PrintMessage(DEBUG_MESSAGE("Can't initialize a Kinect API").c_str()); delete mpKinect; mpKinect = NULL; FreeLibrary(mhOprosAPI); mhOprosAPI = NULL; return OPROS_INITIALIZE_API_ERROR; } return OPROS_SUCCESS; }