tResult cXtionCamera::Init(tInitStage eStage, __exception )
{
RETURN_IF_FAILED(cFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
//create the output pins of the filter
RETURN_IF_FAILED(m_oRGBVideo.Create("Video_RGB", adtf::IPin::PD_Output, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_oRGBVideo));
RETURN_IF_FAILED(m_oDepthImage.Create("Depth_Image", adtf::IPin::PD_Output, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_oDepthImage));
}
else if (eStage == StageNormal)
{
//load the configuration file for the settings of xtion camera
tResult nResult;
nResult = LoadConfiguration();
if (IS_FAILED(nResult))
THROW_ERROR_DESC(nResult,"Failed to load the configuration file for the xtion");
//set the videoformat of the rgb video pin
m_sBitmapFormat.nWidth = m_nWidthVideo;
m_sBitmapFormat.nHeight = m_nHeightVideo;
m_sBitmapFormat.nBitsPerPixel = 24;
m_sBitmapFormat.nPixelFormat = cImage::PF_RGB_888;
m_sBitmapFormat.nBytesPerLine = m_nWidthVideo * 3;
m_sBitmapFormat.nSize = m_sBitmapFormat.nBytesPerLine * m_nHeightVideo;
m_sBitmapFormat.nPaletteSize = 0;
m_oRGBVideo.SetFormat(&m_sBitmapFormat, NULL);
//set the videoformat of the depth video pin
m_sBitmapFormatDepth.nWidth = m_nWidthDepth;
m_sBitmapFormatDepth.nHeight = m_nHeightDepth;
m_sBitmapFormatDepth.nBitsPerPixel = 16;
m_sBitmapFormatDepth.nPixelFormat = cImage::PF_GREYSCALE_16;
m_sBitmapFormatDepth.nBytesPerLine = m_nWidthDepth * 2;
m_sBitmapFormatDepth.nSize = m_sBitmapFormatDepth.nBytesPerLine * m_nHeightDepth;
m_sBitmapFormatDepth.nPaletteSize = 0;
m_oDepthImage.SetFormat(&m_sBitmapFormatDepth, NULL);
}
else if (eStage == StageGraphReady)
{
//check which streams has to be enabled in th xtion
tBool videoEnabled = m_oRGBVideo.IsConnected();
tBool depthEnabled = m_oDepthImage.IsConnected();
// if no output pin is connected the depth image is enabled because one stream must be set to tTrue;
if (videoEnabled==tFalse && depthEnabled==tFalse) depthEnabled = tTrue;
// initialize the grabber with the videoformats, which streams has the be enabled, the framerates and some more options
if (!(m_xtionGrabber.initialize(m_nWidthDepth,m_nHeightDepth,m_FPSDepth,m_nWidthVideo,m_nHeightVideo,m_FPSVideo,depthEnabled,videoEnabled,m_setDepthInMillimeter,m_setRegistration,m_setDepthColorSync,m_setAutoExposure,m_setAutoWhiteBalance)))
THROW_ERROR_DESC(ERR_DEVICE_NOT_READY,"Failed to initialize Xtion!")
else
LOG_INFO(cString::Format("Xtion Capture Device: Grabber is now initialized. Depth mode: %d Video mode: %d",depthEnabled,videoEnabled));
// creates the thread for the reading of data from the xtion
tResult nResult;
nResult = m_oWorker.Create(cKernelThread::TF_Suspended, static_cast<adtf::IKernelThreadFunc*>(this));
if (IS_FAILED(nResult))
THROW_ERROR_DESC(nResult,"Failed to create thread for xtion");
}
tResult LaneFollower::CreateInputPins(__exception)
{
RETURN_IF_FAILED(m_inputPin_LF_enable.Create("lf_enable", new cMediaType(0, 0, 0, "tSignalValue") , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_LF_enable));
RETURN_IF_FAILED(m_inputPin_LaneInfo.Create("laneInfo", new cMediaType(0, 0, 0, "tLaneInfo") , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_LaneInfo));
RETURN_IF_FAILED(m_inputPin_CD_enable.Create("cd_enable", new cMediaType(0, 0, 0, "tSignalValue") , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_CD_enable));
RETURN_IF_FAILED(m_inputPin_PS_enable.Create("ps_enable", new cMediaType(0, 0, 0, "tSignalValue") , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_PS_enable));
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("tCrossingInfo");
RETURN_IF_POINTER_NULL(strDesc);
cObjectPtr<IMediaType> pType = new cMediaType(0, 0, 0, "tCrossingInfo", strDesc, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(pType->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pCoderDescCrossingInfo));
RETURN_IF_FAILED(m_inputPin_CrossingInfo.Create("CrossingInfo", pType , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_CrossingInfo));
RETURN_NOERROR;
}
tResult UltrasonicACC::CreateInputPins(__exception)
{
/* Create input pin for targetSpeed */
RETURN_IF_FAILED(targetSpeed_input.Create("Target_Speed", tSignalValueSpeedInput_object.GetMediaType(), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&targetSpeed_input));
/* Create input pin for original targetSpeed */
RETURN_IF_FAILED(originalTargetSpeed_input.Create("Orig_Target_Speed", tSignalValueOriginalSpeedInput_object.GetMediaType(), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&originalTargetSpeed_input));
/* Create of the input pin for steeringAngle */
RETURN_IF_FAILED(steeringAngle_input.Create("Steering_Angle", tSignalValueSteeringInput_object.GetMediaType(), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&steeringAngle_input));
/* Create input pin for ultrasonic sensor */
RETURN_IF_FAILED(ultrasonicStruct_input.Create("Ultrasonic_Struct", tUltrasonicStructInput_object.GetMediaType(), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&ultrasonicStruct_input));
/* Create action input for SCM communication */
RETURN_IF_FAILED(actionInput.Create("action", tActionStruct_object.GetMediaType(), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&actionInput));
RETURN_NOERROR;
}
tResult cJuryModule::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cBaseQtFilter::Init(eStage, __exception_ptr));
// pins need to be created at StageFirst
if (eStage == StageFirst)
{
cObjectPtr<IMediaDescriptionManager> pDescManager;
RETURN_IF_FAILED(_runtime->GetObject(OID_ADTF_MEDIA_DESCRIPTION_MANAGER,
IID_ADTF_MEDIA_DESCRIPTION_MANAGER,
(tVoid**)&pDescManager,
__exception_ptr));
/*
* the MediaDescription for <struct name="tJuryNotAusFlag" .../> has to exist in a description file (e.g. in $ADTF_DIR\description\ or $ADTF_DIR\src\examples\src\description
* before (!) you start adtf_devenv !! if not: the Filter-Plugin will not loaded because cPin.Create() and so ::Init() failes !
*/
// Select Output
tChar const * strDesc2 = pDescManager->GetMediaDescription("tJuryStruct");
RETURN_IF_POINTER_NULL(strDesc2);
cObjectPtr<IMediaType> pType2 = new cMediaType(0, 0, 0, "tJuryStruct", strDesc2, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(m_JuryStructOutputPin.Create("Jury_Struct", pType2, this));
RETURN_IF_FAILED(RegisterPin(&m_JuryStructOutputPin));
RETURN_IF_FAILED(pType2->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pDescJuryStruct));
// NotAus Output
tChar const * strDesc1 = pDescManager->GetMediaDescription("tJuryEmergencyStop");
RETURN_IF_POINTER_NULL(strDesc1);
cObjectPtr<IMediaType> pType1 = new cMediaType(0, 0, 0, "tJuryEmergencyStop", strDesc1,IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(m_NotAusOutputPin.Create("Emergency_Stop", pType1, this));
RETURN_IF_FAILED(RegisterPin(&m_NotAusOutputPin));
RETURN_IF_FAILED(pType1->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pDescNotAus));
// input Pin
tChar const * strDesc4 = pDescManager->GetMediaDescription("tDriverStruct");
RETURN_IF_POINTER_NULL(strDesc4);
cObjectPtr<IMediaType> pType4 = new cMediaType(0, 0, 0, "tDriverStruct", strDesc4, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(m_DriverStructInputPin.Create("Driver_Struct", pType4, this));
RETURN_IF_FAILED(RegisterPin(&m_DriverStructInputPin));
RETURN_IF_FAILED(pType4->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pDescDriverStruct));
m_bDebugModeEnabled = GetPropertyBool("Debug Output to Console");
}
else if(eStage == StageNormal)
{
}
else if(eStage == StageGraphReady)
{
loadManeuverList();
m_pWidget->SetManeuverList(m_sectorList);
m_pWidget->FillComboBox();
m_bIDNotAusSet = tFalse;
m_bIDsJuryStructSet = tFalse;
m_bIDsDriverStructSet = tFalse;
}
RETURN_NOERROR;
}
tResult ROI::CreateInputPins(IException **__exception_ptr)
{
RETURN_IF_FAILED(rgbVideoInputPin.Create("Video_RGB_In", IPin::PD_Input, static_cast<IPinEventSink *>(this)));
RETURN_IF_FAILED(RegisterPin(&rgbVideoInputPin));
RETURN_IF_FAILED(depthVideoInputPin.Create("Grayscale_Video_Depth_In", IPin::PD_Input, static_cast<IPinEventSink *>(this)));
RETURN_IF_FAILED(RegisterPin(&depthVideoInputPin));
RETURN_NOERROR;
}
tResult MarkerEvaluator::CreateInputPins(IException **__exception_ptr)
{
RETURN_IF_FAILED(roadSignInput.Create("RoadSignAnalysis_Input", roadSignMediaType, static_cast<IPinEventSink *> (this)));
RETURN_IF_FAILED(RegisterPin(&roadSignInput));
RETURN_IF_FAILED(getReadyInput.Create("Reset_Input", enumMediaType, static_cast<IPinEventSink *> (this)));
RETURN_IF_FAILED(RegisterPin(&getReadyInput));
RETURN_NOERROR;
}
tResult PIDController::CreateInputPins(__exception)
{
RETURN_IF_FAILED(m_measured_speed_input.Create("meas_speed", measuredSpeedIn.GetMediaType(), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_measured_speed_input));
RETURN_IF_FAILED(m_set_point_input.Create("set_speed", setPointIn.GetMediaType(), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_set_point_input));
RETURN_NOERROR;
}
// -------------------------------------------------------------------------------------------------
tResult EmergencyFilter::Init(tInitStage stage, __exception) {
// -------------------------------------------------------------------------------------------------
RETURN_IF_FAILED(cFilter::Init(stage, __exception_ptr));
if (stage == StageFirst) {
// Create and register the input pin
cObjectPtr<IMediaDescriptionManager> description_manager;
RETURN_IF_FAILED(_runtime->GetObject(OID_ADTF_MEDIA_DESCRIPTION_MANAGER,
IID_ADTF_MEDIA_DESCRIPTION_MANAGER,(tVoid**)&description_manager,__exception_ptr));
// Create the output pin description
tChar const * package_description = description_manager->GetMediaDescription("SensorPackage");
RETURN_IF_POINTER_NULL(package_description);
cObjectPtr<IMediaType> package_type = new cMediaType(0, 0, 0, "SensorPackage", package_description, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(package_type->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&sensor_package_description_));
// Create the input pin
RETURN_IF_FAILED(sensor_package_input_.Create("sensorPackage", package_type, static_cast<IPinEventSink*>(this)));
RETURN_IF_FAILED(RegisterPin(&sensor_package_input_));
// Create the suppression input description
tChar const * suppression_description = description_manager->GetMediaDescription("tBoolSignalValue");
RETURN_IF_POINTER_NULL(suppression_description);
cObjectPtr<IMediaType> suppression_type = new cMediaType(0, 0, 0, "tBoolSignalValue", suppression_description, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(suppression_type->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&suppression_data_description_));
// Create the input pin
RETURN_IF_FAILED(suppress_input_.Create("suppress_warnings", suppression_type, static_cast<IPinEventSink*>(this)));
RETURN_IF_FAILED(RegisterPin(&suppress_input_));
// Create the bool output description
tChar const * bool_description = description_manager->GetMediaDescription("tBoolSignalValue");
RETURN_IF_POINTER_NULL(bool_description);
cObjectPtr<IMediaType> bool_type = new cMediaType(0, 0, 0, "tBoolSignalValue", bool_description, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(bool_type->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&bool_data_description_));
// Create the output pins
RETURN_IF_FAILED(wheel_active_output_.Create("wheelActive", bool_type, NULL));
RETURN_IF_FAILED(RegisterPin(&wheel_active_output_));
RETURN_IF_FAILED(hazard_light_output_.Create("hazardLightsEnabled", bool_type, NULL));
RETURN_IF_FAILED(RegisterPin(&hazard_light_output_));
}
else if (stage == StageGraphReady) {
debug_ = GetPropertyBool("debug");
suppressed_ = false;
}
RETURN_NOERROR;
}
tResult YawToSteer::CreateInputPins(IException **__exception_ptr)
{
// Sender Yaw
RETURN_IF_FAILED(senderCarYawInPin.Create("senderYaw", typeSignalValue, static_cast<IPinEventSink *> (this)));
RETURN_IF_FAILED(RegisterPin(&senderCarYawInPin));
// Local Yaw
RETURN_IF_FAILED(localCarYawInPin.Create("localYaw", typeSignalValue, static_cast<IPinEventSink *> (this)));
RETURN_IF_FAILED(RegisterPin(&localCarYawInPin));
// Sender speed
RETURN_IF_FAILED(senderCarSpeedInPin.Create("senderSpeed", typeSignalValue, static_cast<IPinEventSink *> (this)));
RETURN_IF_FAILED(RegisterPin(&senderCarSpeedInPin));
RETURN_NOERROR;
}
tResult UltrasonicACC::CreateOutputPins(__exception)
{
/* create output pin for speed controller */
RETURN_IF_FAILED(targetSpeed_output.Create("Target_Speed_acc", tSignalValueOutput_object.GetMediaType(), NULL));
RETURN_IF_FAILED(RegisterPin(&targetSpeed_output));
// create output pin for statemachine
RETURN_IF_FAILED(feedbackOutput.Create("feedback", tFeedbackStruct_object.GetMediaType(), NULL));
RETURN_IF_FAILED(RegisterPin(&feedbackOutput));
RETURN_NOERROR;
}
tResult MarkerEvaluator::CreateOutputPins(IException **__exception_ptr)
{
RETURN_IF_FAILED(markerOutput.Create("Marker_Output", enumMediaType, static_cast<IPinEventSink *> (this)));
RETURN_IF_FAILED(RegisterPin(&markerOutput));
RETURN_IF_FAILED(noOvertakingOutput.Create("NoOvertaking_Output", boolMediaType, static_cast<IPinEventSink *> (this)));
RETURN_IF_FAILED(RegisterPin(&noOvertakingOutput));
RETURN_IF_FAILED(readyOutput.Create("Ready_Output", enumMediaType, static_cast<IPinEventSink *> (this)));
RETURN_IF_FAILED(RegisterPin(&readyOutput));
RETURN_NOERROR;
}
tResult cDriverModule::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cBaseQtFilter::Init(eStage, __exception_ptr));
// pins need to be created at StageFirst
if (eStage == StageFirst) {
cObjectPtr<IMediaDescriptionManager> pDescManager;
RETURN_IF_FAILED(_runtime->GetObject(OID_ADTF_MEDIA_DESCRIPTION_MANAGER,
IID_ADTF_MEDIA_DESCRIPTION_MANAGER,
(tVoid**)&pDescManager,
__exception_ptr));
// input jury struct
tChar const * strDesc1 = pDescManager->GetMediaDescription("tJuryStruct");
RETURN_IF_POINTER_NULL(strDesc1);
cObjectPtr<IMediaType> pType1 = new cMediaType(0, 0, 0, "tJuryStruct", strDesc1, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(m_JuryStructInputPin.Create("Jury_Struct", pType1, this));
RETURN_IF_FAILED(RegisterPin(&m_JuryStructInputPin));
RETURN_IF_FAILED(pType1->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pDescJuryStruct));
// input maneuver list
tChar const * strDesc3 = pDescManager->GetMediaDescription("tManeuverList");
RETURN_IF_POINTER_NULL(strDesc3);
cObjectPtr<IMediaType> pType3 = new cMediaType(0, 0, 0, "tManeuverList", strDesc3, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(m_ManeuverListInputPin.Create("Maneuver_List", pType3, this));
RETURN_IF_FAILED(RegisterPin(&m_ManeuverListInputPin));
RETURN_IF_FAILED(pType3->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pDescManeuverList));
// output driver struct
tChar const * strDesc2 = pDescManager->GetMediaDescription("tDriverStruct");
RETURN_IF_POINTER_NULL(strDesc2);
cObjectPtr<IMediaType> pType2 = new cMediaType(0, 0, 0, "tDriverStruct", strDesc2, IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(m_DriverStructOutputPin.Create("Driver_Struct", pType2, this));
RETURN_IF_FAILED(RegisterPin(&m_DriverStructOutputPin));
RETURN_IF_FAILED(pType2->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pDescDriverStruct));
m_bDebugModeEnabled = GetPropertyBool("Debug Output to Console");
}
else if(eStage == StageGraphReady)
{
// disable maneuver group box until receiving maneuver list
m_pWidget->EnableManeuverGroupBox(false);
// no ids were set so far
m_bIDsJuryStructSet = tFalse;
m_bIDsDriverStructSet = tFalse;
}
RETURN_NOERROR;
}
tResult pylonDetection::CreateInputPins(__exception)
{
cObjectPtr<IMediaDescriptionManager> pDescManager;
RETURN_IF_FAILED(_runtime->GetObject(OID_ADTF_MEDIA_DESCRIPTION_MANAGER,IID_ADTF_MEDIA_DESCRIPTION_MANAGER,(tVoid**)&pDescManager,__exception_ptr));
tChar const * strDescMotion = pDescManager->GetMediaDescription("tMotionDataExt");
RETURN_IF_POINTER_NULL(strDescMotion);
cObjectPtr<IMediaType> pTypeMotion = new cMediaType(0, 0, 0, "tMotionDataExt", strDescMotion,IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(pTypeMotion->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pCoderDescMotion));
//rgb image input pin
RETURN_IF_FAILED(m_inputPin_colorImage.Create("rgb_image", adtf::IPin::PD_Input , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_colorImage));
//depth image input pin
RETURN_IF_FAILED(m_inputPin_depthImage.Create("depth_image_in", adtf::IPin::PD_Input , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_depthImage));
//motion data input pin
RETURN_IF_FAILED(m_inputPin_motion.Create("motion_data", pTypeMotion, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_motion));
//sign data input pin
tChar const * strMarkerInfoValue = pDescManager->GetMediaDescription("tRoadSign");
RETURN_IF_POINTER_NULL(strMarkerInfoValue);
cObjectPtr<IMediaType> pTypeSignInfoValue = new cMediaType(0, 0, 0, "tRoadSign", strMarkerInfoValue,IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(pTypeSignInfoValue->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pCoderDescSign));
RETURN_IF_FAILED(m_inputPin_signLocation.Create("RoadSign", pTypeSignInfoValue , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_signLocation));
//Color calib input pins
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(pTypeSignalValue->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pCoderDescSignal));
RETURN_IF_FAILED(m_inputPin_0.Create("hlow", new cMediaType(0, 0, 0, "tSignalValue") , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_0));
RETURN_IF_FAILED(m_inputPin_1.Create("hhigh", new cMediaType(0, 0, 0, "tSignalValue") , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_1));
RETURN_IF_FAILED(m_inputPin_2.Create("slow", new cMediaType(0, 0, 0, "tSignalValue") , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_2));
RETURN_IF_FAILED(m_inputPin_3.Create("shigh", new cMediaType(0, 0, 0, "tSignalValue") , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_3));
RETURN_IF_FAILED(m_inputPin_4.Create("vlow", new cMediaType(0, 0, 0, "tSignalValue") , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_4));
RETURN_IF_FAILED(m_inputPin_5.Create("vhigh", new cMediaType(0, 0, 0, "tSignalValue") , static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_inputPin_5));
RETURN_NOERROR;
}
tResult StateControllerNew::CreateOutputPins(IException **__exception_ptr)
{
RETURN_IF_FAILED(driveStructOutput.Create("Driver_Struct", driveStructMediaType, this));
RETURN_IF_FAILED(RegisterPin(&driveStructOutput));
RETURN_IF_FAILED(maneuverOutput.Create("Maneuver_Enum", enumMediaType, this));
RETURN_IF_FAILED(RegisterPin(&maneuverOutput));
RETURN_IF_FAILED(carStateOutput.Create("CarState_Enum", enumMediaType, this));
RETURN_IF_FAILED(RegisterPin(&carStateOutput));
RETURN_IF_FAILED(resetOutput.Create("Reset_Output", enumMediaType, static_cast<IPinEventSink *> (this)));
RETURN_IF_FAILED(RegisterPin(&resetOutput));
RETURN_NOERROR;
}
tResult CurveDetector::createVideoOutputPin(const tChar *pinName, cVideoPin &pin)
{
pin.Create(pinName, IPin::PD_Output, static_cast<IPinEventSink*>(this));
RETURN_IF_FAILED(RegisterPin(&pin));
RETURN_NOERROR;
}
tResult cUSSSensorBundle::CreateInputPins(__exception)
{
RETURN_IF_FAILED(m_oInput.Create("ultrasonic_sensors", new cMediaType(0, 0, 0, "tUsData"), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_oInput));
RETURN_NOERROR;
}
tResult ImageCutter::createInputPin(const tChar *pinName, cVideoPin &pin)
{
pin.Create(pinName, IPin::PD_Input, static_cast<IPinEventSink*>(this));
RETURN_IF_FAILED(RegisterPin(&pin));
RETURN_NOERROR;
}
tResult cSimpleFusion::createInputPinUSRight(const tChar *pinName)
{
RETURN_IF_FAILED(m_us_right_in.Create(pinName, pTypeSignalValue, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_us_right_in));
RETURN_NOERROR;
}
tResult cSimpleFusion::createInputPinIRShortRange2(const tChar *pinName)
{
RETURN_IF_FAILED(m_ir_short_in2.Create(pinName, pTypeSignalValue, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_ir_short_in2));
RETURN_NOERROR;
}
tResult cSimpleFusion::createInputPinIRLongeRange(const tChar *pinNameShort)
{
RETURN_IF_FAILED(m_ir_long_in.Create(pinNameShort, pTypeSignalValue, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_ir_long_in));
RETURN_NOERROR;
}
tResult cBoolValueGenerator::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cBaseQtFilter::Init(eStage, __exception_ptr));
// pins need to be created at StageFirst
if (eStage == StageFirst) {
cObjectPtr<IMediaDescriptionManager> pDescManager;
RETURN_IF_FAILED(_runtime->GetObject(OID_ADTF_MEDIA_DESCRIPTION_MANAGER,IID_ADTF_MEDIA_DESCRIPTION_MANAGER,(tVoid**)&pDescManager,__exception_ptr));
tChar const * strDescignalValue = pDescManager->GetMediaDescription("tBoolSignalValue");
RETURN_IF_POINTER_NULL(strDescignalValue);
cObjectPtr<IMediaType> pTypeSignalValue = new cMediaType(0, 0, 0, "tBoolSignalValue", strDescignalValue,IMediaDescription::MDF_DDL_DEFAULT_VERSION);
RETURN_IF_FAILED(pTypeSignalValue->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pCoderDescBool));
RETURN_IF_FAILED(m_oBoolValuePin.Create("BoolValue",pTypeSignalValue, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_oBoolValuePin));
RETURN_NOERROR;
}
else if(eStage == StageGraphReady)
{
}
RETURN_NOERROR;
}
tResult TemporalImage::CreateOutputPins(IException **__exception_ptr)
{
RETURN_IF_FAILED(videoOutputPin.Create("Greyscale_Video_Output", IPin::PD_Output, static_cast<IPinEventSink *>(this)));
RETURN_IF_FAILED(RegisterPin(&videoOutputPin));
RETURN_NOERROR;
}
//****************************
tResult cUserAttitudeFilter::CreateInputPins(__exception)
{
RETURN_IF_FAILED(m_oInput_qW.Create("quaternion_gyro_w", new cMediaType(0, 0, 0, "tSignalValue"), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_oInput_qW));
RETURN_IF_FAILED(m_oInput_qX.Create("quaternion_gyro_x", new cMediaType(0, 0, 0, "tSignalValue"), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_oInput_qX));
RETURN_IF_FAILED(m_oInput_qY.Create("quaternion_gyro_y", new cMediaType(0, 0, 0, "tSignalValue"), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_oInput_qY));
RETURN_IF_FAILED(m_oInput_qZ.Create("quaternion_gyro_z", new cMediaType(0, 0, 0, "tSignalValue"), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_oInput_qZ));
RETURN_NOERROR;
}
tResult cBoolValueGenerator::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cBaseQtFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
//get the media description manager for this filter
cObjectPtr<IMediaDescriptionManager> pDescManager;
RETURN_IF_FAILED(_runtime->GetObject(OID_ADTF_MEDIA_DESCRIPTION_MANAGER,IID_ADTF_MEDIA_DESCRIPTION_MANAGER,(tVoid**)&pDescManager,__exception_ptr));
//get description
tChar const * strDescignalValue = pDescManager->GetMediaDescription("tBoolSignalValue");
// checks if exists
RETURN_IF_POINTER_NULL(strDescignalValue);
//get mediatype
cObjectPtr<IMediaType> pTypeSignalValue = new cMediaType(0, 0, 0, "tBoolSignalValue", strDescignalValue,IMediaDescription::MDF_DDL_DEFAULT_VERSION);
//get mediatype description
RETURN_IF_FAILED(pTypeSignalValue->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&m_pDescriptionBool));
//create pin for output
RETURN_IF_FAILED(m_oBoolValuePin.Create("BoolValue",pTypeSignalValue, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_oBoolValuePin));
RETURN_NOERROR;
}
else if(eStage == StageGraphReady)
{
// media descriptions ids not set by now
m_bIDsBoolValueOutput = tFalse;
}
RETURN_NOERROR;
}
tResult Emergency::createOutputPin(const char *pinName, cOutputPin &pin, cObjectPtr<IMediaType> &typeSignal)
{
RETURN_IF_FAILED(pin.Create(pinName, typeSignal));
RETURN_IF_FAILED(RegisterPin(&pin));
RETURN_NOERROR;
}
tResult Emergency::createInputPin(const char *pinName, cInputPin &pin, cObjectPtr<IMediaType> &typeSignal)
{
RETURN_IF_FAILED(pin.Create(pinName, typeSignal, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&pin));
RETURN_NOERROR;
}
tResult YawToSteer::CreateOutputPins(IException **__exception_ptr)
{
// Steering Pin, connect to SteeringController of Basic_Config
RETURN_IF_FAILED(steerOutPin.Create("steer", typeSignalValue, static_cast<IPinEventSink *> (this)));
RETURN_IF_FAILED(RegisterPin(&steerOutPin));
RETURN_NOERROR;
}
tResult cSimpleFusion::createOutputPin()
{
RETURN_IF_FAILED(m_ir_fusion_out.Create("ir_fusion_out", pTypeSignalValue, NULL));
RETURN_IF_FAILED(RegisterPin(&m_ir_fusion_out));
RETURN_NOERROR;
}
tResult ROI::CreateOutputPins(IException **__exception_ptr)
{
RETURN_IF_FAILED(rgbRoiOutputPin.Create("Rect_RGB_Out", tRectType, static_cast<IPinEventSink *> (this)));
RETURN_IF_FAILED(RegisterPin(&rgbRoiOutputPin));
RETURN_IF_FAILED(depthRoiOutputPin.Create("Rect_Depth_Out", tRectType, static_cast<IPinEventSink *> (this)));
RETURN_IF_FAILED(RegisterPin(&depthRoiOutputPin));
RETURN_IF_FAILED(rgbVideoOutputPin.Create("Video_RGB_Out", IPin::PD_Output, static_cast<IPinEventSink *>(this)));
RETURN_IF_FAILED(RegisterPin(&rgbVideoOutputPin));
RETURN_IF_FAILED(depthVideoOutputPin.Create("Grayscale_Video_Depth_Out", IPin::PD_Output, static_cast<IPinEventSink *>(this)));
RETURN_IF_FAILED(RegisterPin(&depthVideoOutputPin));
RETURN_NOERROR;
}
tResult LightMessageLogger::CreateInputPins(__exception)
{
RETURN_IF_FAILED(actionInput.Create("action", tActionStruct_object.GetMediaType(), static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&actionInput));
RETURN_NOERROR;
}
