EXPORT_C TCMSender& TCMSender::operator=(const TCMSender& aInfo)
{
CALLSTACKITEM_N(_CL("TCMSender"), _CL("operator"));
iName()=aInfo.iName();
iPhoneNo()=aInfo.iPhoneNo();
iJabberNick()=aInfo.iJabberNick();
iBt=aInfo.iBt;
iImei()=aInfo.iImei();
return *this;
}
EXPORT_C CBBSensorEvent& CBBSensorEvent::operator=(const CBBSensorEvent& aSensorEvent)
{
MBBData* val=0;
if (aSensorEvent.iData()) val=aSensorEvent.iData()->CloneL(aSensorEvent.iData()->Name());
iStamp()=aSensorEvent.iStamp();
iPriority()=aSensorEvent.iPriority();
iData.SetValue(val);
iData.SetOwnsValue(ETrue);
iName()=aSensorEvent.iName();
return *this;
}
void CSystemTestBase::HandleThreadExitL(RThread& aThread)
{
TExitType exitType=aThread.ExitType();
if (exitType==EExitPanic)
{
CActiveScheduler::Stop();
iExitReason = aThread.ExitReason();
iExitCategory = aThread.ExitCategory();
TBuf<100> iName(aThread.FullName());
iLogger.WriteFormat(KPanicText, &iName, iExitReason, &iExitCategory);
User::Panic(iExitCategory,iExitReason);
}
}
CodeBlob iName(std::string name) { return iName(hashName(name)); }
EXPORT_C MBBData* CBBSensorEvent::CloneL(const TDesC&) const
{
bb_auto_ptr<CBBSensorEvent> ret(new (ELeave) CBBSensorEvent(iName(), iTupleName, iFactory));
*ret=*this;
return ret.release();
}
// ######################################################################
void Beobot2_GistSalLocalizerWorkerI::updateMessage
(const RobotSimEvents::EventMessagePtr& eMsg, const Ice::Current&)
{
// Get a gist-sal message
if(eMsg->ice_isA("::BeobotEvents::LandmarkSearchQueueMessage"))
{
BeobotEvents::LandmarkSearchQueueMessagePtr lsqMsg =
BeobotEvents::LandmarkSearchQueueMessagePtr::dynamicCast(eMsg);
//Get the current request ID
int currRequestID = lsqMsg->RequestID;
itsInputFnum = currRequestID;
LINFO("Got an lsqMessage with Request ID = %d", currRequestID);
// get the inputImage
its_input_info_mutex.lock();
itsInputImage = Ice2Image<PixRGB<byte> >(lsqMsg->currIma);
//itsInputWin->setTitle(sformat("WM: %d",itsInputFnum).c_str());
//itsInputWin->drawImage(itsInputImage, 0, 0);
// get the salient region information
itsInputVO.clear();
itsVOKeypointsComputed.clear();
itsInputObjOffset.clear();
uint inputSize = lsqMsg->salientRegions.size();
for(uint i = 0; i < inputSize; i++)
{
BeobotEvents::SalientRegion salReg = lsqMsg->salientRegions[i];
LDEBUG("W[%4d] sp[%4d,%4d] rect[%4d,%4d,%4d,%4d]",
i, salReg.salpt.i, salReg.salpt.j,
salReg.objRect.tl.i, salReg.objRect.tl.j,
salReg.objRect.br.i, salReg.objRect.br.j);
// print the pre-attentive feature vector
std::vector<float> features;
uint fsize = salReg.salFeatures.size();
for(uint j = 0; j < fsize; j++)
{
features.push_back(salReg.salFeatures[j]);
LDEBUG("[%4d]:%7f", j, salReg.salFeatures[j]);
}
Point2D<int> salpt(salReg.salpt.i, salReg.salpt.j);
Point2D<int> offset( salReg.objRect.tl.i, salReg.objRect.tl.j);
Rectangle rect = Rectangle::tlbrO
(salReg.objRect.tl.j, salReg.objRect.tl.i,
salReg.objRect.br.j, salReg.objRect.br.i);
// create a visual object for the salient region
Image<PixRGB<byte> > objImg = crop(itsInputImage, rect);
std::string testRunFPrefix("testRunFPrefix");
std::string iname("iname");
std::string saveFilePath("saveFilePath");
std::string
iName(sformat("%s_SAL_%07d_%02d",
testRunFPrefix.c_str(), currRequestID, i));
std::string ifName = iName + std::string(".png");
ifName = saveFilePath + ifName;
rutz::shared_ptr<VisualObject>
vo(new VisualObject
(iName, ifName, objImg, salpt - offset, features,
std::vector< rutz::shared_ptr<Keypoint> >(), false, false));
itsInputVO.push_back(vo);
itsVOKeypointsComputed.push_back(false);
itsInputObjOffset.push_back(offset);
LDEBUG("[%d] image[%d]: %s sal:[%d,%d] offset:[%d,%d]",
currRequestID, i, iName.c_str(),
(salpt - offset).i, (salpt - offset).j,
offset.i, offset.j);
}
its_input_info_mutex.unlock();
its_results_mutex.lock();
itsMatchFound.clear();
itsVOmatch.clear(); itsVOmatch.resize(inputSize);
itsLmkMatch.clear(); itsLmkMatch.resize(inputSize);
itsSegNumMatch.clear(); itsSegNumMatch.resize(inputSize);
itsLenTravMatch.clear(); itsLenTravMatch.resize(inputSize);
itsNumObjectSearch.clear(); itsNumObjectSearch.resize(inputSize);
for(uint i = 0; i < inputSize; i++) itsMatchFound.push_back(false);
for(uint i = 0; i < inputSize; i++) itsNumObjectSearch[i] = 0;
itsNumJobsProcessed = 0;
its_results_mutex.unlock();
// fill the job queue
its_job_queue_mutex.lock();
itsJobQueue.clear();
uint njobs = lsqMsg->jobs.size();
for(uint i = 0; i < njobs; i++)
{
BeobotEvents::LandmarkSearchJob tempJob = lsqMsg->jobs[i];
itsJobQueue.push_back
(GSlocJobData(tempJob.inputSalRegID,
tempJob.dbSegNum,
tempJob.dbLmkNum,
tempJob.dbVOStart,
tempJob.dbVOEnd));
}
// print the job queue
std::list<GSlocJobData>::iterator itr = itsJobQueue.begin();
uint count = 0;
while (itr != itsJobQueue.end())
{
LDEBUG("[%5d] match obj[%d] lDB[%3d][%3d]:[%3d,%3d]", count,
(*itr).objNum, (*itr).segNum, (*itr).lmkNum,
(*itr).voStartNum,(*itr).voEndNum);
itr++; count++;
}
its_job_queue_mutex.unlock();
}
// Got a landmark match results - stop searching for that salient region
else if(eMsg->ice_isA("::BeobotEvents::LandmarkMatchResultMessage"))
{
BeobotEvents::LandmarkMatchResultMessagePtr lmrMsg =
BeobotEvents::LandmarkMatchResultMessagePtr::dynamicCast(eMsg);
//Get the current request ID
//int currRequestID = gistSalMsg->RequestID;
BeobotEvents::LandmarkSearchJob tempJob = lmrMsg->matchInfo;
LINFO("Got an lmrMessage");
LINFO("LMR -> found match[%d]: with itsLandmarkDB[%d][%d]",
tempJob.inputSalRegID, tempJob.dbSegNum, tempJob.dbLmkNum);
its_results_mutex.lock();
if(!itsMatchFound[tempJob.inputSalRegID])
{
itsMatchFound[tempJob.inputSalRegID] = true;
itsSegNumMatch[tempJob.inputSalRegID] = lmrMsg->segNumMatch;
itsLenTravMatch[tempJob.inputSalRegID] = lmrMsg->lenTravMatch;
}
its_results_mutex.unlock();
}
else if(eMsg->ice_isA("::BeobotEvents::CancelSearchMessage"))
{
its_job_queue_mutex.lock();
itsEmptyQueue = true;
its_job_queue_mutex.unlock();
its_results_mutex.lock();
LINFO("CancelSearchMessage: %d processed here", itsNumJobsProcessed);
its_results_mutex.unlock();
}
}
