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;
}
tResult pylonDetection::CreateOutputPins(__exception)
{
//debug image otput pin
RETURN_IF_FAILED(m_outputPin_debugImage.Create("debug_image", adtf::IPin::PD_Output , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_outputPin_debugImage));
//depth depth output pin
RETURN_IF_FAILED(m_outputPin_depthImage.Create("depth_image_out", adtf::IPin::PD_Output , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_outputPin_depthImage));
//Pylon Info output pin
cObjectPtr<IMediaDescriptionManager> pDescManager;
RETURN_IF_FAILED(_runtime->GetObject(OID_ADTF_MEDIA_DESCRIPTION_MANAGER,IID_ADTF_MEDIA_DESCRIPTION_MANAGER,(tVoid**)&pDescManager,__exception_ptr));
tChar const * strDesc = pDescManager->GetMediaDescription("tPylonInfo");
if(!strDesc) LOG_ERROR(cString(OIGetInstanceName()) + ": Could not load mediadescription tPylonInfo, check path");
RETURN_IF_POINTER_NULL(strDesc);
cObjectPtr<IMediaType> pType = new cMediaType(0, 0, 0, "tPylonInfo", strDesc, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(m_outputPin_PylonInfo.Create("PylonInfo", pType, this));
RETURN_IF_FAILED(RegisterPin(&m_outputPin_PylonInfo));
RETURN_IF_FAILED(pType->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pCoderDescPylonInfo));
//Lane Info
tChar const * strDescLaneInfoValue = pDescManager->GetMediaDescription("tLaneInfo");
RETURN_IF_POINTER_NULL(strDescLaneInfoValue);
cObjectPtr<IMediaType> pTypeLaneInfoValue = new cMediaType(0, 0, 0, "tLaneInfo", strDescLaneInfoValue,IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(pTypeLaneInfoValue->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pCoderDescLaneInfo));
RETURN_IF_FAILED(m_oLaneDataOutputPin.Create("laneInfo", pTypeLaneInfoValue , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_oLaneDataOutputPin));
//acceleration pin
tChar const * strDescSignalValue = pDescManager->GetMediaDescription("tSignalValue");
RETURN_IF_POINTER_NULL(strDescSignalValue);
cObjectPtr<IMediaType> pTypeSignalValue = new cMediaType(0, 0, 0, "tSignalValue", strDescSignalValue,IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(m_outputPin_speed.Create("accelerate", pTypeSignalValue , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_outputPin_speed));
RETURN_NOERROR;
}
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);
}
tResult cJuryTransmitter::OnStart(tInt16 entryId)
{
m_Start_entry_id = entryId;
m_hTimerStartCounter = 0;
__synchronized_obj(m_oCriticalSectionTimerStart);
m_hTimerStart = _kernel->TimerCreate(GetPropertyInt("Send time interval in sec")*1000000, 0, static_cast<IRunnable*>(this),
NULL, &m_hTimerStartCounter, sizeof(m_hTimerStartCounter), 0, adtf_util::cString::Format("%s.timerStart", OIGetInstanceName()));
RETURN_NOERROR;
}
tResult cJuryTransmitter::OnRequestReady(tInt16 entryId)
{
m_Request_Ready_entry_id = entryId;
m_hTimerRequestReadyCounter= 0;
__synchronized_obj(m_oCriticalSectionTimerRequestReady);
// Create a timer that will trigger the signal generation every 2 sec.
m_hTimerRequestReady = _kernel->TimerCreate(GetPropertyInt("Send time interval in sec")*1000000, 0, static_cast<IRunnable*>(this),
NULL, &m_hTimerRequestReadyCounter, sizeof(m_hTimerRequestReadyCounter), 0, adtf_util::cString::Format("%s.timerRequestReady", OIGetInstanceName()));
RETURN_NOERROR;
}
tResult cJuryModule::OnNotAus()
{
m_iNotAusCounter = 0;
__synchronized_obj(m_oCriticalSectionTimerNotAus);
m_hTimerNotAus = _kernel->TimerCreate(GetPropertyInt("Send time interval in sec")*1000000, 0, static_cast<IRunnable*>(this),
NULL, &m_iNotAusCounter, sizeof(m_iNotAusCounter), 0, adtf_util::cString::Format("%s.timerNotAus", OIGetInstanceName()));
RETURN_NOERROR;
}
