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 StateControllerNew::Init(cFilter::tInitStage eStage, IException **__exception_ptr)
{
RETURN_IF_FAILED(cFilter::Init(eStage, __exception_ptr));
if (StageFirst == eStage)
{
RETURN_IF_FAILED(CreateDescriptions(__exception_ptr));
RETURN_IF_FAILED(CreateInputPins(__exception_ptr));
RETURN_IF_FAILED(CreateOutputPins(__exception_ptr));
}
else if (StageNormal == eStage)
{
controllerMode = static_cast<tControllerMode::ControllerModeEnum>(GetPropertyInt(CONTROLLER_MODE_PROPERTY));
logger.Log(cString::Format("StateController running in %s mode.", tControllerMode::ToString(controllerMode).c_str()).GetPtr());
if (tControllerMode::Manual == controllerMode && waitTimer == NULL)
{
tInt waitTime = 500 * 1000; // 500ms interval
waitTimer = _kernel->TimerCreate(tTimeStamp(waitTime), 0, static_cast<IRunnable *>(this), NULL, NULL, 0, 0,
cString::Format("%s.timer", OIGetInstanceName()));
}
}
else if (StageGraphReady == eStage)
{
currentManeuverID = 0;
sectionListIndex = -1;
maneuverListIndex = -1;
SetState(tCarState::Startup);
}
RETURN_NOERROR;
}
void UMaterialGraphNode_Base::AllocateDefaultPins()
{
check(Pins.Num() == 0);
CreateInputPins();
CreateOutputPins();
}
//#############################################################################
tResult cMovementAnalyzer::Init(tInitStage eStage, ucom::IException **__exception_ptr)
{
switch (eStage)
{
case StageFirst:
{
// create pins
RETURN_IF_FAILED(CreateInputPins(__exception_ptr));
RETURN_IF_FAILED(CreateOutputPins(__exception_ptr));
break;
}
case StageNormal:
{
break;
}
case StageGraphReady:
{
m_bIDsSignalSet = tFalse;
break;
}
}
RETURN_NOERROR;
}
void USoundCueGraphNode_Base::AllocateDefaultPins()
{
check(Pins.Num() == 0);
CreateInputPins();
if (!IsRootNode())
{
CreatePin(EGPD_Output, TEXT("SoundNode"), TEXT(""), NULL, /*bIsArray=*/ false, /*bIsReference=*/ false, TEXT("Output"));
}
}
tResult LightMessageLogger::Init(tInitStage eStage, __exception) {
RETURN_IF_FAILED(cAsyncDataTriggeredFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
RETURN_IF_FAILED(tActionStruct_object.StageFirst(__exception_ptr));
RETURN_IF_FAILED(tFeedbackStruct_object.StageFirst(__exception_ptr));
// create and register the input and output pin
RETURN_IF_FAILED(CreateInputPins(__exception_ptr));
RETURN_IF_FAILED(CreateOutputPins(__exception_ptr));
} else if (eStage == StageNormal) {
/* read property whether debug mode is required */
debugModeEnabled = tBool(GetPropertyBool(LMLO_DEBUG_TO_CONSOLE));
carIsCarOne = tBool(GetPropertyBool(LMLO_CAR_NAME));
// invert car names if protperty is enabled
if(!carIsCarOne) {
cString tmp_own_car_name = own_car_name;
own_car_name = respondent_car_name;
respondent_car_name = tmp_own_car_name;
}
// clear file content
logfile_content.content.clear();
new_content_counter = 1;
// clear file
fstream chat_file;
chat_file.open("/home/aadc/AADC/utilities/Kuer/data.json", ios::out | ios::trunc);
chat_file << "";
chat_file.close();
} else if (eStage == StageGraphReady) {
// get size of media samples that has to be assigned later
RETURN_IF_FAILED(tActionStruct_object.StageGraphReady());
RETURN_IF_FAILED(tFeedbackStruct_object.StageGraphReady());
}
RETURN_NOERROR;
}
tResult FunctionDriver::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
// create all the pins
RETURN_IF_FAILED(CreateInputPins(__exception_ptr));
RETURN_IF_FAILED(CreateOutputPins(__exception_ptr));
}
else if (eStage == StageNormal)
{
speed = tFloat32(GetPropertyFloat(SPEED_PROPERTY));
sinWidth = tFloat32(GetPropertyFloat(SINWIDTH_PROPERTY));
sinLength = tFloat32(GetPropertyFloat(SINLENGTH_PROPERTY));
}
RETURN_NOERROR;
}
tResult MarkerEvaluator::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
RETURN_IF_FAILED(CreateDescriptions(__exception_ptr));
RETURN_IF_FAILED(CreateInputPins(__exception_ptr));
RETURN_IF_FAILED(CreateOutputPins(__exception_ptr));
}
else if (eStage == StageNormal)
{
}
else if (eStage == StageGraphReady)
{
}
RETURN_NOERROR;
}
tResult YawToSteer::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
RETURN_IF_FAILED(CreateDescriptions(__exception_ptr));
RETURN_IF_FAILED(CreateInputPins(__exception_ptr));
RETURN_IF_FAILED(CreateOutputPins(__exception_ptr));
}
else if (eStage == StageNormal)
{
compensationValue = GetPropertyFloat(STEERING_COMPANSATION_FACTOR_PROPERTY);
deviationThreshold = GetPropertyFloat(DEVIATION_THRESHOLD_PROPERTY);
abruptVariationThreshold = GetPropertyFloat(ABRUPT_VARIATION_THRESHOLD_PROPERTY);
}
else if (eStage == StageGraphReady)
{
m_bIDsSignalSet = tFalse;
}
RETURN_NOERROR;
}
tResult TemporalImage::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
RETURN_IF_FAILED(CreateInputPins(__exception_ptr));
RETURN_IF_FAILED(CreateOutputPins(__exception_ptr));
}
else if (eStage == StageNormal)
{
bufferSize = tUInt(GetPropertyInt(BUFFER_SIZE_PROPERTY));
method = tUInt8(GetPropertyInt(METHOD_PROPERTY));
buffer = vector<Mat>(bufferSize);
for (unsigned int i = 0; i < buffer.size(); ++i)
{
buffer[i] = Mat(0, 0, 0);
}
}
else if (eStage == StageGraphReady)
{
cObjectPtr<IMediaType> mediaType;
RETURN_IF_FAILED(videoInputPin.GetMediaType(&mediaType));
cObjectPtr<IMediaTypeVideo> videoType;
RETURN_IF_FAILED(mediaType->GetInterface(IID_ADTF_MEDIA_TYPE_VIDEO, (tVoid **) &videoType));
videoInputFormat = *(videoType->GetFormat());
videoOutputFormat = *(videoType->GetFormat());
videoOutputPin.SetFormat(&videoOutputFormat, NULL);
logger.Log(cString::Format("Input format: %d x %d @ %d Bit", videoInputFormat.nWidth, videoInputFormat.nHeight,
videoInputFormat.nBitsPerPixel).GetPtr(), false);
logger.Log(cString::Format("Output format: %d x %d @ %d Bit", videoOutputFormat.nWidth, videoOutputFormat.nHeight,
videoOutputFormat.nBitsPerPixel).GetPtr(), false);
}
RETURN_NOERROR;
}
tResult ROI::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
RETURN_IF_FAILED(InitDescriptions(__exception_ptr));
RETURN_IF_FAILED(CreateInputPins(__exception_ptr));
RETURN_IF_FAILED(CreateOutputPins(__exception_ptr));
}
else if (eStage == StageNormal)
{
hoodScanLineNumber = GetPropertyInt(HOOD_SCANLINE_NUMBER_PROPERTY);
roomScanLineNumber = GetPropertyInt(ROOM_SCANLINE_NUMBER_PROPERTY);
maxHoodDetectionCount = GetPropertyInt(MAX_HOOD_DETECTION_COUNT_PROPERTY);
rgbVideoManipulation = GetPropertyInt(RGB_VIDEO_MANIPULATION_PROPERTY);
depthVideoManipulation = GetPropertyInt(DEPTH_VIDEO_MANIPULATION_PROPERTY);
isHoodDetectionEnabled = GetPropertyBool(DETECT_HOOD_PROPERTY);
isRoomDetectionEnabled = GetPropertyBool(DETECT_ROOM_PROPERTY);
roomHeightManipulation = GetPropertyFloat(ROOM_HEIGHT_MANIPULATION_PROPERTY);
logger.Log(cString::Format("roomHeightManipulation: %d", roomHeightManipulation).GetPtr(), false);
logger.Log(cString::Format("hoodScanLineNumber: %d", hoodScanLineNumber).GetPtr(), false);
logger.Log(cString::Format("roomScanLineNumber: %d", roomScanLineNumber).GetPtr(), false);
logger.Log(cString::Format("processingWidthPercentage: %d", processingWidthPercentage).GetPtr(), false);
logger.Log(cString::Format("maxHoodDetectionCount: %d", maxHoodDetectionCount).GetPtr(), false);
logger.Log(cString::Format("rgbVideoManipulation: %d", rgbVideoManipulation).GetPtr(), false);
logger.Log(cString::Format("depthVideoManipulation: %d", depthVideoManipulation).GetPtr(), false);
logger.Log(cString::Format("isHoodDetectionEnabled: %d", isHoodDetectionEnabled).GetPtr(), false);
logger.Log(cString::Format("isRoomDetectionEnabled: %d", isRoomDetectionEnabled).GetPtr(), false);
}
else if (eStage == StageGraphReady)
{
// init RGB Video
cObjectPtr<IMediaType> rgbMediaType;
RETURN_IF_FAILED(rgbVideoInputPin.GetMediaType(&rgbMediaType));
cObjectPtr<IMediaTypeVideo> rgbVideoType;
RETURN_IF_FAILED(rgbMediaType->GetInterface(IID_ADTF_MEDIA_TYPE_VIDEO, (tVoid **) &rgbVideoType));
rgbVideoInputFormat = *(rgbVideoType->GetFormat());
rgbVideoOutputFormat = *(rgbVideoType->GetFormat());
rgbVideoOutputPin.SetFormat(&rgbVideoOutputFormat, NULL);
// init Depth Video
cObjectPtr<IMediaType> depthMediaType;
RETURN_IF_FAILED(depthVideoInputPin.GetMediaType(&depthMediaType));
cObjectPtr<IMediaTypeVideo> depthVideoType;
RETURN_IF_FAILED(depthMediaType->GetInterface(IID_ADTF_MEDIA_TYPE_VIDEO, (tVoid **) &depthVideoType));
depthVideoInputFormat = *(depthVideoType->GetFormat());
depthVideoOutputFormat = *(depthVideoType->GetFormat());
depthVideoOutputPin.SetFormat(&depthVideoOutputFormat, NULL);
logger.Log(cString::Format("RGB Input format: %d x %d @ %d Bit", rgbVideoInputFormat.nWidth, rgbVideoInputFormat.nHeight,
rgbVideoInputFormat.nBitsPerPixel).GetPtr(), false);
logger.Log(cString::Format("RGB Output format: %d x %d @ %d Bit", rgbVideoOutputFormat.nWidth, rgbVideoOutputFormat.nHeight,
rgbVideoOutputFormat.nBitsPerPixel).GetPtr(), false);
logger.Log(cString::Format("Depth Input format: %d x %d @ %d Bit", depthVideoInputFormat.nWidth, depthVideoInputFormat.nHeight,
depthVideoInputFormat.nBitsPerPixel).GetPtr(), false);
logger.Log(cString::Format("Depth Output format: %d x %d @ %d Bit", depthVideoOutputFormat.nWidth, depthVideoOutputFormat.nHeight,
depthVideoOutputFormat.nBitsPerPixel).GetPtr(), false);
if (depthVideoOutputFormat.nBitsPerPixel != 8)
{
THROW_ERROR_DESC(depthVideoOutputFormat.nBitsPerPixel, "Wrong depth video format. Use HTWK_Grayscale in front of this filter.");
}
// init processing parameters
processingData.processingWidth = depthVideoInputFormat.nWidth * (processingWidthPercentage / 100.0);
processingData.startOffset = (depthVideoInputFormat.nWidth - processingData.processingWidth) / 2;
processingData.hoodScanLineStepWidth = processingData.processingWidth / (hoodScanLineNumber - 1);
processingData.roomScanLineStepWidth = processingData.processingWidth / (roomScanLineNumber - 1);
logger.Log(cString::Format("hoodScanLineNumber: %d", hoodScanLineNumber).GetPtr(), false);
logger.Log(cString::Format("processingWidthPercentage: %d", processingWidthPercentage).GetPtr(), false);
logger.Log(cString::Format("processingWidth: %d", processingData.processingWidth).GetPtr(), false);
logger.Log(cString::Format("startOffset: %d", processingData.startOffset).GetPtr(), false);
logger.Log(cString::Format("hoodScanLineStepWidth: %d", processingData.hoodScanLineStepWidth).GetPtr(), false);
logger.Log(cString::Format("roomScanLineStepWidth: %d", processingData.roomScanLineStepWidth).GetPtr(), false);
}
RETURN_NOERROR;
}
tResult StateControlManagementSlim::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cAsyncDataTriggeredFilter::Init(eStage, __exception_ptr));
// pins need to be created at StageFirst
if (eStage == StageFirst)
{
//LOG_WARNING("StateControlManagement: StageFirst;");
/* get Information regarding input and output pins for specific types */
RETURN_IF_FAILED(TActionStruct_object.StageFirst(__exception_ptr));
RETURN_IF_FAILED(TFeedbackStruct_object.StageFirst(__exception_ptr));
// create and register the input pin
RETURN_IF_FAILED(CreateInputPins(__exception_ptr));
RETURN_IF_FAILED(CreateOutputPins(__exception_ptr));
m_bDebugModeEnabled = GetPropertyBool("Debug Output to Console");
#ifdef WRITE_DEBUG_OUTPUT_TO_FILE
// creating logfile log file for SCM
//LOG_WARNING("SCM: debug mode: 'logging' for scm-data enabled, writing to /opt/scm_log-'date-and-time'.log");
time_t rawtime;
struct tm * timeinfo;
time(&rawtime);
timeinfo = localtime(&rawtime);
// cString fileDate = cString(asctime(timeinfo));
// fileDate.Replace(" ", "_");
// fileDate.Replace(":", "_");
// cString logFilename = "/opt/scm_log_" + fileDate + ".log";
// logFilename.Replace("\n", "");
// scm_logfile.open(logFilename, ios::out | ios::trunc);
// scm_logfile << "# SCM data log, recorded at: " << asctime(timeinfo) << std::endl;
//scm_logfile.close();
size_t N = 80;
char dateAndTime[N];
strftime(dateAndTime, N, "%Y_%m_%d-%H_%M_%S", timeinfo);
cString dateAndTime_str = cString(dateAndTime);
cString logFilename = "/opt/scm_log_" + cString(dateAndTime) + ".log";
logFilename.Replace("\n", "");
LOG_WARNING("SCM: debug mode: 'logging' for scm-data enabled, writing to '" + logFilename + "'.");
scm_logfile.open(logFilename, ios::out | ios::trunc);
scm_logfile << "# SCM data log, recorded at: " << asctime(timeinfo) << std::endl;
#endif
/* StateController Management*/
i16CurrentScmManeuverID = -1;
i16CurrentScmStepID = -1;
i8CurrentActLvlMode = NOT_INITIALIZED;
}
else if (eStage == StageNormal)
{
//LOG_WARNING("StateControlManagement: StageNormal;");
m_bPrintStrucModeEnabled = GetPropertyBool("Print Structure to Console");
// load xml files for defining the structure of the StateController
tResult scmLoadstate = LoadSCMStructureData();
if(scmLoadstate < 0) {
LOG_ERROR(adtf_util::cString::Format("SCM: Structure could not be loaded!"));
}
THROW_IF_FAILED(scmLoadstate);
if(m_bDebugModeEnabled && scmLoadstate == 0){
LOG_WARNING(adtf_util::cString::Format("SCM: Structure loaded successfully!"));
}
/* Initialization of SCM after successfully loading structure*/
i16CurrentScmManeuverID = 0;
i16CurrentScmStepID = 0;
/* START StateControl Management in startup-state, wait for first PASSIVE request to start,
* e.g. verification of loaded maneuver list from JuryCommunication */
i8CurrentActLvlMode = PASSIVE;
if(m_bDebugModeEnabled) LOG_WARNING(adtf_util::cString::Format("SCM: initialized maneuverID, stepID and actLvlmode:Passive"));
}
else if(eStage == StageGraphReady)
{
//LOG_WARNING("StateControlManagement: StageGraphReady;");
// IDs for ActionStruct and FeedbackStruct are set
RETURN_IF_FAILED(TActionStruct_object.StageGraphReady());
RETURN_IF_FAILED(TFeedbackStruct_object.StageGraphReady());
/* START StateControl Management in startup-state (maneuver 0, step 0) in passive mode, wait for response from JCom
* that maneuver list was successfully loaded */
if(m_bDebugModeEnabled) LOG_WARNING(adtf_util::cString::Format("SCM: waiting for feedback from JCom regarding loaded maneuverlist."));
}
RETURN_NOERROR;
}
