/*********************************************************************
//  created:    2013/10/25 - 19:36
//  filename:   DisparityMapComponent.cpp
//
//  author:     Danilo Alves de Lima and Students of SY27
//              Copyright Heudiasyc UMR UTC/CNRS 6599
// 
//  version:    $Id: $
//
//  purpose:   Disparity map calculation from stereo image data
//			   
//
*********************************************************************/

#include "Flea3Component.h"

#include <iostream>
#include <sstream>
#include <iomanip> 
#include <string>

#include "opencv2/objdetect/objdetect.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/core/core.hpp"

#include <qapplication.h>
#include <string>

// Includes, qt.
#include <QMetaType>

#include "Pacpus/kernel/ComponentFactory.h"
#include "Pacpus/kernel/DbiteException.h"
#include "Pacpus/kernel/DbiteFileTypes.h"
#include "Pacpus/kernel/Log.h"

using namespace std;
using namespace pacpus;

DECLARE_STATIC_LOGGER("pacpus.base.Flea3Component");

// Construct the factory
static ComponentFactory<Flea3Component> sFactory("Flea3Component");

const int kMaxFilepathLength = 512; // TODO: should be same for all images

static const string Flea3MemoryName_img = "Flea3Image";

//////////////////////////////////////////////////////////////////////////
/// Constructor.
Flea3Component::Flea3Component(QString name)
	: ComponentBase(name)
{   
	LOG_TRACE(Q_FUNC_INFO);

	//recording = 0;

	this->cam_serial = 0;												// Camera serial to connect
	this->cam_FrameRate = FlyCapture2::FRAMERATE_7_5;					// Frame rates in frames per second
	this->cam_video_mode = FlyCapture2::VIDEOMODE_FORMAT7;				// DCAM video modes
	this->cam_mode = FlyCapture2::MODE_4;								// Camera modes for DCAM formats as well as Format7
	this->cam_PixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;				// Pixel formats available for Format7 modes
	this->cam_ColorProcessingAlgorithm = FlyCapture2::NEAREST_NEIGHBOR;	/**
																		* Color processing algorithms. Please refer to our knowledge base at
																		* article at http://www.ptgrey.com/support/kb/index.asp?a=4&q=33 for
																		* complete details for each algorithm.
																		*/
	this->cam_start_point_left = 0;			// Image left point (for standard modes only)
	this->cam_start_point_top = 0;			// Image top point (for standard modes only)
	this->cam_width = 2048;					// Image width (for standard modes only)
	this->cam_height = 1080;				// image height (for standard modes only)
	
	this->showdebug = false;	// Show frame acquired
		
	if(this->cam_ColorProcessingAlgorithm == 1)
		this->cam_channels = 1;
	else
		this->cam_channels = 3;

	// Size of the image data sizeof(char)*width*height*channels
	this->mMaxImageOutputSize = sizeof(char)*this->cam_width*this->cam_height*this->cam_channels;

	// output data
	this->shmem_image = 0;			// Shared memory control access to the image data
	
}

//////////////////////////////////////////////////////////////////////////
/// Destructor.
Flea3Component::~Flea3Component()
{
	LOG_TRACE(Q_FUNC_INFO);

	if(this->shmem_image)
		delete shmem_image;

	this->shmem_image = NULL;

}

//////////////////////////////////////////////////////////////////////////
/// Called by the ComponentManager to start the component
void Flea3Component::startActivity()
{
	LOG_TRACE(Q_FUNC_INFO);

	if(	((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO8)||
		((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO12)||
		((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO16) )
	{
		this->cam_channels = 1;	
	}
	else
	{
		if(this->cam_ColorProcessingAlgorithm == 1)
		{
			this->cam_channels = 1;
		}
		else
		{
			this->cam_channels = 3;
		}
	}

	// Create output files for recording
	if (this->isRecording()) 
	{
		try 
		{
			QString dbtFileName_ = this->mOutputDirectory.filePath(/*ComponentBase::componentName*/name() + ".dbt");
			//std::cout << "Save file : " << dbtFileName_.toStdString() << std::endl;
			this->mDbtImage.open(dbtFileName_.toStdString(), WriteMode, FILE_IMAGE, kMaxFilepathLength);
			//this->mDbtImage.open(dbtFileName_.toStdString(), WriteMode, FILE_JPEG, kMaxFilepathLength);
		} 
		catch (DbiteException & e) 
		{
			cerr << "error opening dbt file: " << e.what() << endl;
		}
	}
		
	// Run thread
	/*ComponentBase::*/THREAD_ALIVE = true;
	start();
}

//////////////////////////////////////////////////////////////////////////
/// Called by the ComponentManager to stop the component
void Flea3Component::stopActivity()
{
	LOG_TRACE(Q_FUNC_INFO);

	if(/*ComponentBase::*/THREAD_ALIVE)
	{
		// Stop thread
		/*ComponentBase::*/THREAD_ALIVE = false;

		while(is_running)
		{
			msleep(10);
		}
				
	}

	// Close DBT file
	if (this->isRecording()) 
	{
		this->mDbtImage.close();
	}

	LOG_INFO("stopped component '" << name() << "'");
}

//////////////////////////////////////////////////////////////////////////
/// Called by the ComponentManager to pass the XML parameters to the
/// component
ComponentBase::COMPONENT_CONFIGURATION Flea3Component::configureComponent(XmlComponentConfig config)
{
	LOG_TRACE(Q_FUNC_INFO);

	// Initialize with default values
	this->InitDefault();

	if (config.getProperty("recording") != QString::null)
		setRecording(config.getProperty("recording").toInt());
	
	if (config.getProperty("cam_serial") != QString::null)
		this->cam_serial = config.getProperty("cam_serial").toInt();

	//---------------------------------------- Camera configuration --------------------------------------------
	if (config.getProperty("auto_FrameRate") != QString::null)
		this->auto_FrameRate = (config.getProperty("auto_FrameRate") == "true" ? true : false);

	if (config.getProperty("cam_FrameRate") != QString::null)
		this->cam_FrameRate = config.getProperty("cam_FrameRate").toDouble();

	if (config.getProperty("auto_Gain") != QString::null)
		this->auto_Gain = (config.getProperty("auto_Gain") == "true" ? true : false);

	if (config.getProperty("cam_Gain") != QString::null)
		this->cam_Gain = config.getProperty("cam_Gain").toDouble();

	if (config.getProperty("auto_Exposure") != QString::null)
		this->auto_Exposure = (config.getProperty("auto_Exposure") == "true" ? true : false);

	if (config.getProperty("cam_Exposure") != QString::null)
		this->cam_Exposure = config.getProperty("cam_Exposure").toDouble();

	if (config.getProperty("auto_Shutter") != QString::null)
		this->auto_Shutter = (config.getProperty("auto_Shutter") == "true" ? true : false);

	if (config.getProperty("cam_Shutter") != QString::null)
		this->cam_Shutter = config.getProperty("cam_Shutter").toDouble();

	if (config.getProperty("auto_ExposurebyCode") != QString::null)
		this->auto_ExposurebyCode = (config.getProperty("auto_ExposurebyCode") == "true" ? true : false);

	if (config.getProperty("cam_ExposurebyCode_tshold") != QString::null)
		this->cam_ExposurebyCode_tshold = config.getProperty("cam_ExposurebyCode_tshold").toDouble();
	//----------------------------------------------------------------------------------------------------------

	if (config.getProperty("cam_video_mode") != QString::null)
		this->cam_video_mode = config.getProperty("cam_video_mode").toInt();

	if (config.getProperty("cam_mode") != QString::null)
		this->cam_mode = config.getProperty("cam_mode").toInt();

	if (config.getProperty("cam_PixelFormat") != QString::null)
		this->cam_PixelFormat = config.getProperty("cam_PixelFormat").toInt();

	if (config.getProperty("cam_ColorProcessingAlgorithm") != QString::null)
		this->cam_ColorProcessingAlgorithm = config.getProperty("cam_ColorProcessingAlgorithm").toInt();

	if (config.getProperty("cam_start_point_left") != QString::null)
		this->cam_start_point_left = config.getProperty("cam_start_point_left").toInt();

	if (config.getProperty("cam_start_point_top") != QString::null)
		this->cam_start_point_top = config.getProperty("cam_start_point_top").toInt();

	if (config.getProperty("cam_width") != QString::null)
		this->cam_width = config.getProperty("cam_width").toInt();

	if (config.getProperty("cam_height") != QString::null)
		this->cam_height = config.getProperty("cam_height").toInt();

	if (config.getProperty("image_compact") != QString::null)
		this->image_compact = config.getProperty("image_compact").toInt();

	if (config.getProperty("showdebug") != QString::null)
		this->showdebug = (bool)config.getProperty("showdebug").toInt();

	if (config.getProperty("outputdir") != QString::null)
		{
			if (this->isRecording()) 
			{
				this->mOutputDirectory.mkdir(config.getProperty("outputdir"));
				this->mOutputDirectory.mkdir(config.getProperty("outputdir") + "/" + name()/*ComponentBase::componentName*/);
				this->mOutputDirectory.setPath(config.getProperty("outputdir"));
			}
		}
		else
		{
			if (this->isRecording()) 
			{

				this->mOutputDirectory.mkdir(/*ComponentBase::componentName*/name());
				this->mOutputDirectory.setPath(this->mOutputDirectory.currentPath());
			}
		}

	LOG_INFO("configured component '" << name() << "'");
    return ComponentBase::CONFIGURED_OK;
}

/** 
* Initialize default values
*/
void Flea3Component::InitDefault()
{
	// Default
	//recording = 0;

	this->cam_serial = 0;												// Camera index to connect
	
	// Camera configuration
	this->auto_FrameRate = false;					// Set auto frame rate
	this->cam_FrameRate = 15.0;						// Frame rates in frames per second = FlyCapture2::FRAMERATE_15
	this->auto_Gain = false;						// Set auto gain
	this->cam_Gain = 1.0;							// Gain value in db
	this->auto_Exposure = true;						// Set auto exposure
	this->cam_Exposure = 2.414;						// Auto exposure in EV
	this->auto_Shutter = true;						// Set auto shutter
	this->cam_Shutter = 66.639;						// Shutter in miliseconds
	this->auto_ExposurebyCode = false;				// Set auto exposure by pos processing method
	this->cam_ExposurebyCode_tshold = 20.0;			// Pecentage of white pixels for threshold

	this->cam_video_mode = FlyCapture2::VIDEOMODE_FORMAT7;				// DCAM video modes
	this->cam_mode = FlyCapture2::MODE_0;								// Camera modes for DCAM formats as well as Format7
	this->cam_PixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;				// Pixel formats available for Format7 modes
	this->cam_ColorProcessingAlgorithm = FlyCapture2::NEAREST_NEIGHBOR;	/**
																		* Color processing algorithms. Please refer to our knowledge base at
																		* article at http://www.ptgrey.com/support/kb/index.asp?a=4&q=33 for
																		* complete details for each algorithm.
																		*/
	this->cam_start_point_left = 0;			// Image left point (for standard modes only)
	this->cam_start_point_top = 0;			// Image top point (for standard modes only)
	this->cam_width = 4096;					// Image width (for standard modes only)
	this->cam_height = 2160;				// image height (for standard modes only)
	
	this->showdebug = false;	// Show frame acquired
		
	if(this->cam_ColorProcessingAlgorithm == 1)
		this->cam_channels = 1;
	else
		this->cam_channels = 3;

	// Size of the image data sizeof(char)*width*height*channels
	this->mMaxImageOutputSize = sizeof(char)*this->cam_width*this->cam_height*this->cam_channels;

	this->image_compact = 0;				// Don't compact the image data
}

// Thread loop
void Flea3Component::run()
{
	LOG_TRACE(Q_FUNC_INFO);

	this->is_running = true;

	//==================================== Camera initialization =================================================
	// Check the number of cameras
	FlyCapture2::BusManager busMgr;
    unsigned int numCameras;
    FlyCapture2::Error error = busMgr.GetNumOfCameras(&numCameras);

    if (error != FlyCapture2::PGRERROR_OK)
    {
        LOG_ERROR( error.GetDescription() );
        exit(0);
    }

	if ( numCameras < 1 )
    {
        LOG_ERROR( "Insufficient number of cameras... exiting" );
        exit(0);
    }

	// Get camera from serial (in this case first camera in the bus)
	FlyCapture2::PGRGuid guid;
	error = busMgr.GetCameraFromSerialNumber(this->cam_serial, &guid);
    if (error != FlyCapture2::PGRERROR_OK)
    {
        LOG_ERROR( error.GetDescription() );
        exit(0);
    }
	
	FlyCapture2::Camera cam;		// FlyCapture camera class

    // Connect to a camera
    error = cam.Connect(&guid);
    if (error != FlyCapture2::PGRERROR_OK)
    {
        LOG_ERROR( error.GetDescription() );
        exit(0);
    }

    // Get the camera information
    FlyCapture2::CameraInfo camInfo;
    error = cam.GetCameraInfo(&camInfo);
    if (error != FlyCapture2::PGRERROR_OK)
    {
        LOG_ERROR( error.GetDescription() );
        exit(0);
    }

	// Just for visualization
	printf(
        "\n*** CAMERA INFORMATION ***\n"
        "Serial number - %u\n"
        "Camera model - %s\n"
        "Camera vendor - %s\n"
        "Sensor - %s\n"
        "Resolution - %s\n"
        "Firmware version - %s\n"
        "Firmware build time - %s\n\n",
        camInfo.serialNumber,
        camInfo.modelName,
        camInfo.vendorName,
        camInfo.sensorInfo,
        camInfo.sensorResolution,
        camInfo.firmwareVersion,
        camInfo.firmwareBuildTime );
	    
    // Query for available Format 7 modes
    FlyCapture2::Format7Info fmt7Info;
    bool supported;
	fmt7Info.mode = (FlyCapture2::Mode)this->cam_mode;
    error = cam.GetFormat7Info( &fmt7Info, &supported );
    if (error != FlyCapture2::PGRERROR_OK)
    {
        LOG_ERROR( error.GetDescription() );
        exit(0);
    }
	    
	if ( ((FlyCapture2::PixelFormat)this->cam_PixelFormat & fmt7Info.pixelFormatBitField) == 0 )
    {
        // Pixel format not supported!
		LOG_ERROR("Pixel format is not supported\n");
        exit(0);
    }
    
	// Configurate custom image
    FlyCapture2::Format7ImageSettings fmt7ImageSettings;
	fmt7ImageSettings.mode = (FlyCapture2::Mode)this->cam_mode;
    fmt7ImageSettings.offsetX = this->cam_start_point_left;
	fmt7ImageSettings.offsetY = this->cam_start_point_top;
    fmt7ImageSettings.width = this->cam_width;
	fmt7ImageSettings.height = this->cam_height;
    fmt7ImageSettings.pixelFormat = (FlyCapture2::PixelFormat)this->cam_PixelFormat;

    bool valid;
    FlyCapture2::Format7PacketInfo fmt7PacketInfo;

    // Validate the settings to make sure that they are valid
    error = cam.ValidateFormat7Settings(
        &fmt7ImageSettings,
        &valid,
        &fmt7PacketInfo );
    if (error != FlyCapture2::PGRERROR_OK)
    {
        LOG_ERROR( error.GetDescription() );
        exit(0);
    }

    if ( !valid )
    {
        // Settings are not valid
		LOG_ERROR( "Format7 settings are not valid" );
        exit(0);
    }

    // Set the settings to the camera
    error = cam.SetFormat7Configuration(
        &fmt7ImageSettings,
        fmt7PacketInfo.recommendedBytesPerPacket );
    if (error != FlyCapture2::PGRERROR_OK)
    {
        LOG_ERROR( error.GetDescription() );
        exit(0);
    }

	// Define the color algorithm
	FlyCapture2::Image::SetDefaultColorProcessing((FlyCapture2::ColorProcessingAlgorithm)this->cam_ColorProcessingAlgorithm);


    // Start capturing images
    error = cam.StartCapture();
    if (error != FlyCapture2::PGRERROR_OK)
    {
        LOG_ERROR( error.GetDescription() );
        exit(0);
    }

    // Set frame rate property
    FlyCapture2::Property cam_property;
	cam_property.type = (FlyCapture2::PropertyType)16; //FlyCapture2::PropertyType::FRAME_RATE;
	cam_property.absControl = true;
	cam_property.autoManualMode = this->auto_FrameRate;
	cam_property.onOff = true;
	cam_property.onePush = false;
	cam_property.absValue = (float)this->cam_FrameRate;
    error = cam.SetProperty( &cam_property );
    if (error != FlyCapture2::PGRERROR_OK)
    {
        LOG_ERROR( error.GetDescription() );
        exit(0);
    }

	// Set gain property
	cam_property.type = (FlyCapture2::PropertyType)13; //FlyCapture2::PropertyType::GAIN; 
	cam_property.absControl = true;
	cam_property.autoManualMode = this->auto_Gain;
	cam_property.onOff = true;
	cam_property.onePush = false;	
	cam_property.absValue = (float)this->cam_Gain;
    error = cam.SetProperty( &cam_property );
    if (error != FlyCapture2::PGRERROR_OK)
    {
        LOG_ERROR( error.GetDescription() );
        exit(0);
    }

	// Set exposure property
	cam_property.type = (FlyCapture2::PropertyType)1; //FlyCapture2::PropertyType::AUTO_EXPOSURE; 
	cam_property.absControl = true;
	cam_property.onePush = false;
	cam_property.onOff = true;
	cam_property.autoManualMode = this->auto_Exposure;
	cam_property.absValue = (float)this->cam_Exposure;
    error = cam.SetProperty( &cam_property );
    if (error != FlyCapture2::PGRERROR_OK)
    {
        LOG_ERROR( error.GetDescription() );
        exit(0);
    }

	// Set shuttet property
	cam_property.type = (FlyCapture2::PropertyType)12; //FlyCapture2::PropertyType::SHUTTER; 
	cam_property.absControl = true;
	cam_property.onePush = false;
	cam_property.onOff = true;
	cam_property.autoManualMode = this->auto_Shutter;
	cam_property.absValue = (float)this->cam_Shutter;
    error = cam.SetProperty( &cam_property );
    if (error != FlyCapture2::PGRERROR_OK)
    {
        LOG_ERROR( error.GetDescription() );
        exit(0);
    }
	//============================================================================================================
	
	//---------------------------------- Recording parameters ------------------------------------
	size_t imageCount = 0;
	
	// Timestamp
	road_time_t time = 0;
	road_timerange_t tr = 0;

	const char * const imagePrefix = "image";
	const char * const imageNameDelimiter = "-";
	const char * const imageExtension = this->image_compact ? ".jpg" : 
											(((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO8)||
											((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO12)||
											((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO16)) ?  ".pgm" : ".ppm";
		
	const char kFillCharacter = '0';
	const int kNumberWidth = 5;
	
	//--------------------------------------------------------------------------------------------
	
	// Raw image
	FlyCapture2::Image rawImage;

	bool shmen_init = false;
		
	while (THREAD_ALIVE) 
	{
		//LOG_INFO("Grab new image");
		//std::cout << "Grab new image\n";
		// Retrieve an image
        error = cam.RetrieveBuffer( &rawImage );
        if (error != FlyCapture2::PGRERROR_OK)
        {
            LOG_ERROR( error.GetDescription() );
            continue;
        }

		//std::cout << "Get timestamp\n";

		// Image timestamp
		FlyCapture2::TimeStamp timeStamp = rawImage.GetTimeStamp();

		// Time in seconds
		//double currTime = (double)timeStamp.cycleSeconds + (((double)timeStamp.cycleCount+((double)timeStamp.cycleOffset/3072.0))/8000.0);
		
		//unsigned long timeStampSeconds = timeStamp.seconds;
		//unsigned long timeStampMicroSeconds = timeStamp.microSeconds;
		//time = static_cast<road_time_t>(timeStampSeconds) * 1000 * 1000 + timeStampMicroSeconds;
		time = road_time(); // Use the same time base of the other sensors

		//std::cout << "Time: " << time << " \n";

		// Get the raw image dimensions
        /*FlyCapture2::PixelFormat pixFormat;
        unsigned int rows, cols, stride;
        rawImage.GetDimensions( &rows, &cols, &stride, &pixFormat );*/

        // Create a converted image
        FlyCapture2::Image convertedImage;

		if(this->cam_channels == 1)
		{
			// Convert the raw image
			error = rawImage.Convert( FlyCapture2::PIXEL_FORMAT_MONO8, &convertedImage );
			if (error != FlyCapture2::PGRERROR_OK)
			{
				LOG_ERROR( error.GetDescription() );
				exit(0);
			}
		}
		else
		{
			// Convert the raw image
			error = rawImage.Convert( FlyCapture2::PIXEL_FORMAT_BGR, &convertedImage );
			if (error != FlyCapture2::PGRERROR_OK)
			{
				LOG_ERROR( error.GetDescription() );
				exit(0);
			}
		}

		////////////////////////////////////////////////////////////////////////////////////////
		if(this->use_shmem)
		{
			//std::cout << "Create shared memory\n";
			if(!shmen_init)
			{
				//---------------------------- Shared Memory Initialization --------------------------------------

				this->mMaxImageOutputSize = sizeof(unsigned char)*this->cam_width*this->cam_height*this->cam_channels;

				this->img_mem_size = mMaxImageOutputSize;
	
				this->shmem_image = new ShMem(Flea3MemoryName_img.c_str(), this->img_mem_size);

				//------------------------------------------------------------------------------------------------

				shmen_init = true;
			}

			//std::cout << "Share image created : " << this->img_mem_size << "\n";

			// Copy images data to memory
			this->shmem_image->write(convertedImage.GetData(), this->img_mem_size);
		}

		////////////////////////////////////////////////////////////////////////////////////////

		/////////////////////
		// Write images to disk
		if (this->isRecording()) 
		{
			// Save the image to file
			stringstream imageNameSs; 
				
			imageNameSs << /*ComponentBase::componentName*/name().toStdString() << "/" << imagePrefix << imageNameDelimiter << setfill(kFillCharacter) << setw(kNumberWidth) << imageCount << imageExtension;
			string imageName = this->mOutputDirectory.filePath(imageNameSs.str().c_str()).toStdString();

			// Save the image. If a file format is not passed in, then the file
			// extension is parsed to attempt to determine the file format.
			error = convertedImage.Save( const_cast<char *>(imageName.c_str()) );
			if (error != FlyCapture2::PGRERROR_OK)
			{
				LOG_ERROR( error.GetDescription() );
				exit(0);
			} 

			try 
			{
				this->mDbtImage.writeRecord(time, tr, this->mOutputDirectory.filePath(imageName.c_str()).toStdString().c_str(), kMaxFilepathLength);
			} 
			catch (DbiteException & e) 
			{
				cerr << "error opening dbt file: " << e.what() << endl;
			}
		}
		
		if(this->showdebug)
		{
			unsigned int rowBytes = (int)((double)convertedImage.GetReceivedDataSize()/(double)convertedImage.GetRows()); 
			cv::Mat Img_BGR = cv::Mat(convertedImage.GetRows(), convertedImage.GetCols(), CV_MAKE_TYPE(CV_8U, this->cam_channels), convertedImage.GetData(), rowBytes);
			
			cv::namedWindow( "Flea3Component - Current Reference Frame", CV_WINDOW_KEEPRATIO );
			cv::imshow("Flea3Component - Current Reference Frame", Img_BGR);
			cv::waitKey(10);
		}
		LOG_TRACE("image no. " << imageCount << " acquired successfully");
		++imageCount;
		
   	}
		
	//====================================== Camera finalization =================================================
	LOG_INFO("Finished grabbing images!");
	// Stop capturing images
	error = cam.StopCapture();
	if (error != FlyCapture2::PGRERROR_OK)
	{
		LOG_ERROR( error.GetDescription() );
		exit(0);
	}      

	// Disconnect the camera
	error = cam.Disconnect();
	if (error != FlyCapture2::PGRERROR_OK)
	{
		LOG_ERROR( error.GetDescription() );
		exit(0);
	}
	//============================================================================================================

	if(shmen_init)
	{
		if(this->shmem_image)
			delete shmem_image;

		this->shmem_image = NULL;
	}

	this->is_running = false;
}