Changeset 114 in pacpussensors for trunk/StdDbtPlayerComponents

Timestamp:

Dec 16, 2015, 2:36:49 PM (9 years ago)

Author:

DHERBOMEZ Gérald

Message:

• add output to Alasca Player component (come from cityvip project)
• Delete the force rebuild in build_linux.sh script

Location:

trunk/StdDbtPlayerComponents

Files:

• DbtPlyAlascaManager.cpp (modified) (3 diffs)
• DbtPlyAlascaManager.h (modified) (3 diffs)

trunk/StdDbtPlayerComponents/DbtPlyAlascaManager.cpp

@@ -16 +16 @@
 #include <iostream>
 #include <string>
+#include <math.h>
 
 #include "kernel/Log.h"
+#include "kernel/InputOutputInterface.h"
 #include "PacpusTools/ShMem.h"
+
+#define CENTIMETER_TO_METER 100
 
 namespace pacpus {
@@ -57 +61 @@
 
     return ComponentBase::CONFIGURED_OK;
+}
+
+void DbtPlyAlascaManager::addInputs()
+{
+    // empty: no inputs
+}
+
+void DbtPlyAlascaManager::addOutputs()
+{
+    addOutput<LidarScan, DbtPlyAlascaManager>("scan");
+    addOutput<ScanAlascaData, DbtPlyAlascaManager>("raw");
 }
 
@@ -118 +133 @@
     }
 
+    lidarScan = LidarScan(4);
+    int layer;
+
+    lidarScan.nbPoint = mAlascaData.nbPoint;
+    lidarScan.time = mAlascaData.time;
+    lidarScan.timerange = mAlascaData.timerange;
+    lidarScan.scannerId;
+    lidarScan.scannerType = mAlascaData.scannertype;
+    lidarScan.nbLayer = 4;
+
+    for (size_t i = 0; i < mAlascaData.nbPoint; ++i) {
+         LidarPoint point;
+
+         layer = mAlascaData.point[i].layerNumber;
+         point.echo = mAlascaData.point[i].echoNumber;
+
+         point.x = (float)mAlascaData.point[i].x / CENTIMETER_TO_METER;
+         point.y = (float)mAlascaData.point[i].y / CENTIMETER_TO_METER;
+         point.z = (float)mAlascaData.point[i].z / CENTIMETER_TO_METER;
+         point.intensity = mAlascaData.point[i].width;
+         point.d = (sqrt(point.x*point.x+point.y*point.y+point.z*point.z) * CENTIMETER_TO_METER);
+
+         lidarScan.layers[layer].nbPoint++;
+         lidarScan.layers[layer].points.append(point);
+    }
+
     // verify that the last value is the UTC magic word
     int32_t utcMagicWord = 0;
     mDataFile.read(reinterpret_cast<char *>(&(utcMagicWord)), sizeof(utcMagicWord));
-   /* if (UTC_MAGIC_WORD != utcMagicWord) {
+    if (UTC_MAGIC_WORD != utcMagicWord) {
         LOG_WARN("corrupted data, do not use them!");
         LOG_DEBUG("wrong magic word: EXPECTED=" << UTC_MAGIC_WORD << ", ACTUAL=" << utcMagicWord);
     } else {
         LOG_TRACE("writing scan");
-        mShMem->write(&mAlascaData, sizeof(ScanAlascaData));
-    }*/ // deprecated
+        //mShMem->write(&mAlascaData, sizeof(ScanAlascaData));
+
+        OutputInterface<LidarScan, DbtPlyAlascaManager> * scanOutput = getTypedOutput<LidarScan, DbtPlyAlascaManager>("scan");
+        if (scanOutput && scanOutput->hasConnection()) {
+            scanOutput->send(lidarScan, road_time(), /*timerange=*/50000); // FIXME: magic numbers?
+        }
+        OutputInterface<ScanAlascaData, DbtPlyAlascaManager> * rawOutput = getTypedOutput<ScanAlascaData, DbtPlyAlascaManager>("raw");
+        if (rawOutput && rawOutput->hasConnection()) {
+            rawOutput->send(mAlascaData, road_time(), /*timerange=*/50000);
+        }
+    }
 
     if (mVerbose) {

trunk/StdDbtPlayerComponents/DbtPlyAlascaManager.h

@@ -20 +20 @@
 #include "../Alasca/AlascaData.h"
 #include "StdDbtPlayerComponentsConfig.h"
+#include <Pacpus/structures/genericLidarStructures.h>
 
 namespace pacpus {
@@ -28 +29 @@
         : public DbtPlyFileManager
 {
+    Q_OBJECT
 public:
     DbtPlyAlascaManager(QString name);
@@ -36 +38 @@
     void displayUI();
 
-    virtual ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);
-    virtual void startActivity();
-    virtual void stopActivity();
+    ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);
+    void startActivity();
+    void stopActivity();
+
+    virtual void addInputs();
+    virtual void addOutputs();
 
 private:
     //ShMem * mShMem;// deprecated
     ScanAlascaData mAlascaData;
+    LidarScan lidarScan;
 
     std::ifstream mDataFile;