// 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;
}
