void OrganizedSurfaceNormalNode::_display() const
{
const KinectCloud& pcd = *pcd_otl_->pull();
cv::Mat3b vis(cv::Size(pcd.width, pcd.height), cv::Vec3b(0, 0, 0));
for(int y = 0; y < vis.rows; ++y) {
for(int x = 0; x < vis.cols; ++x) {
int idx = y * pcd.width + x;
if(isnan(pcd[idx].x))
continue;
normalToColor(normals_->at(idx), &vis(y, x));
}
}
cv::imwrite("debug/" + getRunName() + ".png", vis);
pcl::PointCloud<pcl::PointXYZRGBNormal> cn;
pcl::concatenateFields(pcd, *normals_, cn);
if(!cn.empty())
pcl::io::savePCDFileBinary("debug/" + getRunName() + ".pcd", cn);
else {
int retval = system(("touch debug/" + getRunName() + ".pcd").c_str());
--retval;
}
}
void ForegroundKdTreeNode::_display() const
{
if(seg_otl_->pull().rows == 0)
return;
cout << "Previous foreground PCD has " << fg_pcd_->size() << " points." << endl;
if(!fg_pcd_->empty())
pcl::io::savePCDFileBinary("debug/" + getRunName() + ".pcd", *fg_pcd_);
else {
int retval = system(("touch debug/" + getRunName() + ".pcd").c_str());
--retval;
}
}
void CPairTrade::onBrokerResponseArrived(
BrkLib::BrokerConnect &brkConnect,
BrkLib::BrokerResponseBase const& bresponse
)
{
if (bresponse.type_m != BrkLib::RT_BrokerResponseOrder)
return;
MyBrokerContext const* myCtxPtr = (MyBrokerContext const*)bresponse.context_m.getContext();
if (myCtxPtr != NULL) {
// context is const but we want actually change this
CppUtils::BaseAction<MachineContext>& action = const_cast<CppUtils::BaseAction<MachineContext>&>(myCtxPtr->getAction());
BrokerResponseRecipient* rp = dynamic_cast<BrokerResponseRecipient*>(&action);
if (rp != NULL) {
CppUtils::BaseAction<MachineContext>* action = dynamic_cast< CppUtils::BaseAction<MachineContext>* >(rp);
LOG_COMMON( getRunName(), getRtdataProvider_Smartcom(), BrkLib::AP_MEDIUM, "Broker response delegated to: " << action->toString());
rp->onCallbackReceived(brkConnect, bresponse);
}
else {
// unknown target
LOG_COMMON( getRunName(), getRtdataProvider_Smartcom(), BrkLib::AP_MEDIUM, "Broker response delegated to default handler - unknown target");
//LOG(MSG_INFO, "Check - Unknown target", "Check: \n" << bresponse.toString());
BrokerResponseRecipient::onUnknownCallbackreceived(brkConnect, bresponse);
}
} else {
// unknown target
LOG_COMMON( getRunName(), getRtdataProvider_Smartcom(), BrkLib::AP_MEDIUM, "Broker response delegated to default handler - NULL context");
//LOG(MSG_INFO, "Check - NULL context", "Check: \n" << bresponse.toString());
BrokerResponseRecipient::onUnknownCallbackreceived(brkConnect, bresponse);
}
}
void CPairTrade::onEventArrived(
Inqueue::ContextAccessor& contextaccessor,
HlpStruct::CallingContext& callContext,
bool& result,
CppUtils::String& customOutputData
)
{
customOutputData = "FAILED";
CppUtils::String const& command = callContext.getCallCustomName();
CppUtils::String const& data = callContext.getParameter<BrkLib::String_Proxy>("custom_data").get();
// parse as simple structure
HlpStruct::XmlParameter xmlparam_data_v;
HlpStruct::HumanSerializer::deserializeXmlParameter(data, xmlparam_data_v);
HlpStruct::XmlParameter const& xmlparam_data = (HlpStruct::XmlParameter const&)xmlparam_data_v;
if (command=="hallo") {
}
else if (command=="dump_symbol") {
CppUtils::String const& symbol = xmlparam_data.getStringParameter("symbol");
exportSymbol(contextaccessor, symbol);
LOG_COMMON(connectRunName_m,getBarDataProvider_Smartcom(), BrkLib::AP_MEDIUM, "Symbol dumped");
}
else if (command=="load_data") {
bool loaded = contextaccessor.loadDataFromMaster(historyDataProfile_m, false);
if (!loaded)
THROW(CppUtils::OperationFailed, "exc_CannotLoadHistoryData", "ctx_onEventArrived", "");
LOG_COMMON(connectRunName_m,getBarDataProvider_Smartcom(), BrkLib::AP_MEDIUM, "Loaded history OK ");
}
else if (command=="dump_cache") {
// this command dump cache file to see what we have in memory
CppUtils::String const& fileTmp = CppUtils::getTempPath() + "\\dump_" + CppUtils::createValidFileName(getRunName()) + "_" + CppUtils::long2String(CppUtils::getTime()) + ".txt";
CppUtils::saveContentInFile2(fileTmp, contextaccessor.makeDebugDump(true));
}
else if (command=="simulate_signal_up") {
robot_m.simulateUp();
}
else if (command=="simulate_signal_down") {
robot_m.simulateDown();
}
else if (command=="start_trade") {
if ( xmlparam_data.isKeyExists("allowed_direction")) {
CppUtils::String direction = xmlparam_data.getParameter("allowed_direction").getAsString();
CppUtils::toupper( direction );
robot_m.getGlobalTradeContext().get().allowTrading_m = BrkLib::TD_NONE;
if (direction == "SHORT") {
robot_m.getGlobalTradeContext().get().allowTrading_m = BrkLib::TD_SHORT;
}
else if (direction == "LONG") {
robot_m.getGlobalTradeContext().get().allowTrading_m = BrkLib::TD_LONG;
}
else if (direction == "BOTH") {
robot_m.getGlobalTradeContext().get().allowTrading_m = BrkLib::TD_BOTH;
}
}
if ( xmlparam_data.isKeyExists("current_position")) {
CppUtils::String direction = xmlparam_data.getParameter("current_position").getAsString();
CppUtils::toupper( direction );
if (direction == "SHORT") {
robot_m.sendInitialEvent( BrkLib::TD_SHORT );
}
else if (direction == "LONG") {
robot_m.sendInitialEvent( BrkLib::TD_LONG );
}
else if (direction == "NONE") {
robot_m.sendInitialEvent( BrkLib::TD_NONE);
}
}
}
else if (command=="stop_trade") {
robot_m.sendStopTradeEvent();
LOG_COMMON(connectRunName_m,getBarDataProvider_Smartcom(), BrkLib::AP_MEDIUM, "Prohibited broker operations broker operations");
}
else
THROW(CppUtils::OperationFailed, "exc_InvalidCommand", "ctx_onEventArrived", command);
// no exceptions
customOutputData ="Command: [" +command+ "] done OK";
}
void BoundaryMaskNode::_display() const
{
displayNodePotentials();
cv::imwrite("debug/" + getRunName() + "-rough_mask.png", rough_mask_);
cv::imwrite("debug/" + getRunName() + "-refined_mask.png", refined_mask_);
}
