void StateControllerNew::EvaluatePin(IPin *sourcePin, IMediaSample *mediaSample)
{
if (sourcePin == &maneuverListInput)
{
cString maneuverFileString;
{
__adtf_sample_read_lock_mediadescription(maneuverListDescription, mediaSample, pCoder);
std::vector<tSize> vecDynamicIDs;
// retrieve number of elements by providing NULL as first parameter
tSize bufferSize = 0;
if (IS_OK(pCoder->GetDynamicBufferIDs(NULL, bufferSize)))
{
// create a buffer depending on the size element
tChar pcBuffer[bufferSize];
vecDynamicIDs.resize(bufferSize);
// get the dynamic ids (we already got the first "static" size element)
if (IS_OK(pCoder->GetDynamicBufferIDs(&(vecDynamicIDs.front()), bufferSize)))
{
// iterate over all elements
for (tUInt32 nIdx = 0; nIdx < vecDynamicIDs.size(); ++nIdx)
{
// get the value and put it into the buffer
pCoder->Get(vecDynamicIDs[nIdx], (tVoid *) &pcBuffer[nIdx]);
}
maneuverFileString = (const tChar *) pcBuffer;
}
}
}
LoadManeuverList(maneuverFileString);
return;
}
if (sourcePin == &juryInput)
{
tInt8 juryActionId = -2;
tInt16 maneuverId = -1;
{
__adtf_sample_read_lock_mediadescription(juryDescription, mediaSample, pCoder);
pCoder->Get("i8ActionID", (tVoid *) &juryActionId);
pCoder->Get("i16ManeuverEntry", (tVoid *) &maneuverId);
}
switch (juryActions(juryActionId))
{
case action_GETREADY:
JuryGetReady(maneuverId);
break;
case action_START:
JuryStart(maneuverId);
break;
case action_STOP:
JuryStop(maneuverId);
break;
}
return;
}
if (sourcePin == &errorInput)
{
tBool isError = tFalse;
{
__adtf_sample_read_lock_mediadescription(boolDescription, mediaSample, pCoder);
pCoder->Get("bValue", (tVoid *) &isError);
}
if (isError)
{
logger.Log("Received Error");
SetState(tCarState::Error);
}
return;
}
if (sourcePin == &emergencyStopInput)
{
tBool isEmergencyStop = tFalse;
{
__adtf_sample_read_lock_mediadescription(boolDescription, mediaSample, pCoder);
pCoder->Get("bEmergencyStop", (tVoid *) &isEmergencyStop);
}
if (isEmergencyStop)
{
logger.Log("Received EmergencyStop");
SetState(tCarState::Startup);
}
return;
}
if (sourcePin == &incrementManeuverInput)
{
tBool incrementManeuver = tFalse;
{
__adtf_sample_read_lock_mediadescription(boolDescription, mediaSample, pCoder);
pCoder->Get("bValue", (tVoid *) &incrementManeuver);
}
if (incrementManeuver)
{
IncrementManeuver();
}
return;
}
if (sourcePin == &readyInput)
{
tReadyModule::ReadyModuleEnum module = tReadyModule::Nothing;
{
__adtf_sample_read_lock_mediadescription(enumDescription, mediaSample, pCoder);
pCoder->Get("tEnumValue", (tVoid *) &module);
}
logger.Log(cString::Format("Received ready from %s", tReadyModule::ToString(module).c_str()).GetPtr());
modulesReady.push_back(module);
if (tCarState::GetReady == carState && AreAllModulesReady())
{
logger.Log("All modules ready");
SetState(tCarState::Ready);
}
return;
}
}
tResult cDriverModule::OnPinEvent(IPin* pSource, tInt nEventCode, tInt nParam1, tInt nParam2, IMediaSample* pMediaSample)
{
RETURN_IF_POINTER_NULL(pMediaSample);
RETURN_IF_POINTER_NULL(pSource);
if (nEventCode == IPinEventSink::PE_MediaSampleReceived )
{
if (pSource == &m_JuryStructInputPin && m_pDescJuryStruct != NULL)
{
tInt8 i8ActionID = -2;
tInt16 i16entry = -1;
{ // focus for sample read lock
__adtf_sample_read_lock_mediadescription(m_pDescJuryStruct,pMediaSample,pCoder);
// get the IDs for the items in the media sample
if(!m_bIDsJuryStructSet)
{
pCoder->GetID("i8ActionID", m_szIDJuryStructI8ActionID);
pCoder->GetID("i16ManeuverEntry", m_szIDJuryStructI16ManeuverEntry);
m_bIDsJuryStructSet = tTrue;
}
pCoder->Get(m_szIDJuryStructI8ActionID, (tVoid*)&i8ActionID);
pCoder->Get(m_szIDJuryStructI16ManeuverEntry, (tVoid*)&i16entry);
}
switch (juryActions(i8ActionID))
{
case action_GETREADY:
if(m_bDebugModeEnabled) LOG_INFO(cString::Format("Driver Module: Received Request Ready with maneuver ID %d",i16entry));
emit SendRequestReady((int)i16entry);
break;
case action_START:
if(m_bDebugModeEnabled) LOG_INFO(cString::Format("Driver Module: Received Run with maneuver ID %d",i16entry));
emit SendRun((int)i16entry);
break;
case action_STOP:
if(m_bDebugModeEnabled) LOG_INFO(cString::Format("Driver Module: Received Stop with maneuver ID %d",i16entry));
emit SendStop((int)i16entry);
break;
}
}
else if (pSource == &m_ManeuverListInputPin && m_pDescManeuverList != NULL)
{
{ // focus for sample read lock
__adtf_sample_read_lock_mediadescription(m_pDescManeuverList,pMediaSample,pCoder);
std::vector<tSize> vecDynamicIDs;
// retrieve number of elements by providing NULL as first paramter
tSize szBufferSize = 0;
if(IS_OK(pCoder->GetDynamicBufferIDs(NULL, szBufferSize)))
{
// create a buffer depending on the size element
tChar* pcBuffer = new tChar[szBufferSize];
vecDynamicIDs.resize(szBufferSize);
// get the dynamic ids (we already got the first "static" size element)
if (IS_OK(pCoder->GetDynamicBufferIDs(&(vecDynamicIDs.front()), szBufferSize)))
{
// iterate over all elements
for (tUInt32 nIdx = 0; nIdx < vecDynamicIDs.size(); ++nIdx)
{
// get the value and put it into the buffer
pCoder->Get(vecDynamicIDs[nIdx], (tVoid*)&pcBuffer[nIdx]);
}
// set the resulting char buffer to the string object
m_strManeuverFileString = (const tChar*) pcBuffer;
}
// cleanup the buffer
delete pcBuffer;
}
}
// trigger loading maneuver list and update the ui
TriggerLoadManeuverList();
}
}
RETURN_NOERROR;
}
tResult cJuryModule::OnDataUpdate(const tString& strName, const tVoid* pData, const tSize& szSize)
{
// called from the connection lib on new data
// check data size
RETURN_IF_POINTER_NULL(pData);
if (szSize <= 0)
{
RETURN_ERROR(ERR_INVALID_ARG);
}
// check the name of the data
if (strName == CONLIB_IN_PORT_NAME_DRIVER_STRUCT)
{
// data from driver
const tDriverStruct* sDriverData = (const tDriverStruct*) pData;
//update the gui
emit SetDriverState(sDriverData->i8StateID, sDriverData->i16ManeuverEntry);
//update the timeline
if (m_i16LastDriverEntryId < sDriverData->i16ManeuverEntry || m_i16LastDriverEntryId == -1 || sDriverData->i8StateID == -1 || sDriverData->i8StateID == 2)
{
// set the first time manually
if (m_oLastReceiveTimestamp.isNull())
{
m_oLastReceiveTimestamp = QTime::currentTime();
m_i16LastDriverEntryId = sDriverData->i16ManeuverEntry;
}
// calc the time diff
tTimeStamp timeDiff = (m_oLastReceiveTimestamp.msecsTo(QTime::currentTime())); //time in milliseconds
QString Message;
switch (stateCar(sDriverData->i8StateID))
{
case stateCar_READY:
Message = "from " + QString::number(m_i16LastDriverEntryId) + " to " + QString::number(sDriverData->i16ManeuverEntry) + ": " + QString::number(timeDiff) + " msec: Ready";
break;
case stateCar_RUNNING:
Message = "from " + QString::number(m_i16LastDriverEntryId) + " to " + QString::number(sDriverData->i16ManeuverEntry) + ": " + QString::number(timeDiff) + " msec: OK";
break;
case stateCar_COMPLETE:
Message = "from " + QString::number(m_i16LastDriverEntryId) + " to " + QString::number(sDriverData->i16ManeuverEntry) + ": " + QString::number(timeDiff) + " msec: Complete";
break;
case stateCar_ERROR:
Message = "from " + QString::number(m_i16LastDriverEntryId) + " to " + QString::number(sDriverData->i16ManeuverEntry) + ": " + QString::number(timeDiff) + " msec: Error";
break;
case stateCar_STARTUP:
break;
}
// set the last time
m_oLastReceiveTimestamp = QTime::currentTime();
m_i16LastDriverEntryId = sDriverData->i16ManeuverEntry;
//update the ui
SetLogText(Message);
}
}
else if (strName == CONLIB_IN_PORT_NAME_JURY_STRUCT_LOOPBACK)
{
// data from jury loopback
const tJuryStruct* sJuryLoopbackData = (const tJuryStruct*) pData;
QString strText = QString("Loopback Jury: Received jury struct loopback with action ");
switch(juryActions(sJuryLoopbackData->i8ActionID))
{
case action_GETREADY:
strText += "GETREADY ";
break;
case action_START:
strText += "START ";
break;
case action_STOP:
strText += "STOP ";
break;
default:
strText += "UNKNOWN ";
break;
}
strText += QString(" and maneuver ") + QString::number(sJuryLoopbackData->i16ManeuverEntry);
// write text to log (just for checking the connection)
SetLogText(strText);
//QMetaObject::invokeMethod(this, "OnAppendText", Qt::AutoConnection, Q_ARG(QString, strText));
}
else if (strName == CONLIB_IN_PORT_NAME_EMERGENCY_STOP_LOOPBACK)
{
// data from emergency loopback
const tJuryEmergencyStop* sJuryLoopbackData = (const tJuryEmergencyStop*) pData;
QString strText = QString("Loopback Emergency: Received emergency loopback with ");
strText += (sJuryLoopbackData->bEmergencyStop == true) ? QString("true") : QString("false");
// write text to log (just for checking the connection)
SetLogText(strText);
//QMetaObject::invokeMethod(this, "OnAppendText", Qt::AutoConnection, Q_ARG(QString, strText));
}
else if (strName == CONLIB_IN_PORT_NAME_MANEUVER_LIST)
{
// data from maneuverlist loopback
const tInt32* i32DataSize = (const tInt32*) pData;
const tChar* pcString = (const tChar*) ((tChar*)pData + sizeof(tInt32));
tString strManeuver(pcString);
QString strText = QString("Loopback ManeuverList received");
// check the data content
if(*i32DataSize != (m_strManeuverList.size() + sizeof(char)))
{
strText += QString(" size does not match");
}
if(strManeuver != m_strManeuverList)
{
strText += QString(" content does not match");
}
strText += "!!!";
// write text to log (just for checking the connection)
SetLogText(strText);
//QMetaObject::invokeMethod(this, "OnAppendText", Qt::AutoConnection, Q_ARG(QString, strText));
}
RETURN_NOERROR;
}
