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/**
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* Vehicle ModelOutput Behaviour Source.
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*
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* @file
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* Copyright © Digiteq automotive. All rights reserved
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*
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* $Author: voigtlpi $
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* $Date: 2013-10-21 16:19:03 +0200 (Mon, 21 Oct 2013) $
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* $Revision: 41925 $
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*
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* @remarks
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*/
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#include "stdafx.h"
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#include "VehicleModelOutputBehaviour.h"
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/// Create filter for random number generator
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ADTF_FILTER_PLUGIN("Vehicle ModelOutput Behaviour", OID_ADTF_MODEL_OUT_BEHAVIOR_FILTER, cVehicleModelOutputB)
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cVehicleModelOutputB::cVehicleModelOutputB(const tChar* __info) : adtf::cAsyncDataTriggeredFilter(__info)
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{
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memset(&m_sVehicleBehaviour, 0, sizeof(m_sVehicleBehaviour));
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m_DataReceived = false;
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m_CycleTime = 100000;
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}
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cVehicleModelOutputB::~cVehicleModelOutputB()
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{
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}
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tResult cVehicleModelOutputB::Start( __exception)
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{
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m_oThread.Run();
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return cFilter::Start(__exception_ptr);
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}
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tResult cVehicleModelOutputB::Stop( __exception)
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{
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m_oThread.Suspend();
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return cFilter::Stop(__exception_ptr);
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}
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const char OUTPUT_PIN_NAME[] = "output_vehicle_behaviour";
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const char INPUT_PIN_NAME[] = "input_vehicle_behaviour";
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tResult cVehicleModelOutputB::Init(tInitStage eStage, __exception)
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{
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RETURN_IF_FAILED(cAsyncDataTriggeredFilter::Init(eStage, __exception_ptr));
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54
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switch(eStage)
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{
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case StageFirst:
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// Output to ADTF framework
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RETURN_IF_FAILED(m_oOutputVehicleBehaviour.Create(OUTPUT_PIN_NAME,
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cObjectPtr<IMediaType>(new cMediaType(MEDIA_TYPE_VEHICLE_MODEL_OUTPUT_BEHAVIOUR, MEDIA_SUBTYPE_VEHICLE_MODEL_OUTPUT_BEHAVIOUR_V1)),
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static_cast<IPinEventSink*>(this)));
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RETURN_IF_FAILED(RegisterPin(&m_oOutputVehicleBehaviour));
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// Input from Matlab
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RETURN_IF_FAILED(m_pInputPin.Create(INPUT_PIN_NAME,
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cObjectPtr<IMediaType>(new cMediaType(0,0)), //MEDIA_TYPE_STRUCTURED_DATA, MEDIA_SUBTYPE_STRUCT_STRUCTURED)), // Regular output for ADTF-Matlab connection
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//cObjectPtr<IMediaType>(new cMediaType(MEDIA_TYPE_VEHICLE_MODEL_OUTPUT_BEHAVIOUR, MEDIA_SUBTYPE_VEHICLE_MODEL_OUTPUT_BEHAVIOUR_V1)), // Just a hack for EF6 testing.
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static_cast<IPinEventSink*>(this)));
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RETURN_IF_FAILED(RegisterPin(&m_pInputPin));
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break;
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case StageNormal:
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// init all properties
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{
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adtf_util::cString strByteOrder = "LE";
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if(PLATFORM_BYTEORDER == PLATFORM_BIG_ENDIAN_8)
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{
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strByteOrder = "BE";
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}
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adtf_util::cString strTypeNameI = adtf_util::cString::Format("tVehicleModelOutputBehaviour_%s", OIGetInstanceName());
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adtf_util::cString strMyDescriptionI = adtf_util::cString::Format(
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"<structs>"
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"<struct alignment=\"8\" name=\"tVehicleModelAnimationState\" version=\"1\">"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"0\" type=\"tFloat64\" name=\"fSteeringPosition\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"8\" type=\"tFloat64\" name=\"afWheelAngle0\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"16\" type=\"tFloat64\" name=\"afWheelAngle1\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"24\" type=\"tFloat64\" name=\"afWheelAngle2\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"32\" type=\"tFloat64\" name=\"afWheelAngle3\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"40\" type=\"tFloat64\" name=\"afWheelDeflection0\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"48\" type=\"tFloat64\" name=\"afWheelDeflection1\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"56\" type=\"tFloat64\" name=\"afWheelDeflection2\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"64\" type=\"tFloat64\" name=\"afWheelDeflection3\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"72\" type=\"tUInt32\" name=\"nLightMask\"/>"
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"<element alignment=\"4\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"74\" type=\"tUInt32\" name=\"void\"/>"
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"</struct>"
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"<struct alignment=\"8\" name=\"tDrivetrain\" version=\"1\">"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"0\" type=\"tFloat64\" name=\"fGear\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"8\" type=\"tFloat64\" name=\"fGearboxType\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"16\" type=\"tFloat64\" name=\"fDrivetrainType\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"24\" type=\"tFloat64\" name=\"fTorqueGearBoxIn\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"32\" type=\"tFloat64\" name=\"fTorqueCenterDiffOut0\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"40\" type=\"tFloat64\" name=\"fTorqueCenterDiffOut1\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"48\" type=\"tFloat64\" name=\"fTorqueShaft\"/>"
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"</struct>"
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"<struct alignment=\"8\" name=\"tEngine\" version=\"1\">"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"0\" type=\"tFloat64\" name=\"fRpm\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"8\" type=\"tFloat64\" name=\"fTorque\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"16\" type=\"tFloat64\" name=\"fLoad\"/>"
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"</struct>"
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"<struct alignment=\"8\" name=\"tWheel\" version=\"1\">"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"0\" type=\"tFloat64\" name=\"fSpringCompression\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"8\" type=\"tFloat64\" name=\"fSteeringAngle\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"16\" type=\"tFloat64\" name=\"fRotAngle\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"24\" type=\"tFloat64\" name=\"fRotAngleDot\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"32\" type=\"tFloat64\" name=\"fSlip\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"40\" type=\"tFloat64\" name=\"fBrakePressure\"/>"
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"</struct>"
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"<struct alignment=\"8\" name=\"tVehicleModelOutputBehaviour\" version=\"1\">"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"0\" type=\"tVTDPosition\" name=\"sPosition\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"120\" type=\"tVehicleModelAnimationState\" name=\"sAnimationState\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"200\" type=\"tFloat64\" name=\"fSteeringMoment\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"208\" type=\"tEngine\" name=\"sEngine\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"232\" type=\"tDrivetrain\" name=\"sDrivetrain\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"288\" type=\"tWheel\" name=\"sWheel0\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"336\" type=\"tWheel\" name=\"sWheel1\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"384\" type=\"tWheel\" name=\"sWheel2\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"432\" type=\"tWheel\" name=\"sWheel3\"/>"
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"</struct>"
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"<struct alignment=\"8\" name=\"tVTDPosition\" version=\"1\">"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"0\" type=\"tFloat64\" name=\"afXYZ0\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"8\" type=\"tFloat64\" name=\"afXYZ1\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"16\" type=\"tFloat64\" name=\"afXYZ2\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"24\" type=\"tFloat64\" name=\"afXYZdot0\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"32\" type=\"tFloat64\" name=\"afXYZdot1\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"40\" type=\"tFloat64\" name=\"afXYZdot2\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"48\" type=\"tFloat64\" name=\"afXYZdotdot0\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"56\" type=\"tFloat64\" name=\"afXYZdotdot1\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"64\" type=\"tFloat64\" name=\"afXYZdotdot2\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"72\" type=\"tFloat64\" name=\"afHPR0\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"80\" type=\"tFloat64\" name=\"afHPR1\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"88\" type=\"tFloat64\" name=\"afHPR2\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"96\" type=\"tFloat64\" name=\"afHPRdot0\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"104\" type=\"tFloat64\" name=\"afHPRdot1\"/>"
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"112\" type=\"tFloat64\" name=\"afHPRdot2\"/>"
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"</struct>"
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"</structs>");
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ucom::cObjectPtr<adtf::IMediaType> pTypeI = NULL;
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RETURN_IF_FAILED(m_pInputPin.GetMediaType(&pTypeI));
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ucom::cObjectPtr<adtf::IMediaTypeDescription> pTypeDescriptionI = NULL;
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if(IS_OK(pTypeI->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&pTypeDescriptionI)))
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{
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//if you are not sure your description works!
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//react on this return value!
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RETURN_IF_FAILED(pTypeDescriptionI->SetMediaSampleDescription("tVehicleModelOutputBehaviour", //strTypeName,
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strMyDescriptionI.GetPtr(),
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IMediaDescription::MDF_DDL020000));
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}
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adtf_util::cString strMyDescription = adtf_util::cString::Format(
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"<structs>"
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"<struct alignment=\"8\" name=\"tVehicleModelAnimationStateI\" version=\"1\">"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fSteeringPosition\"/>"
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166
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"afWheelAngle0\"/>"
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"afWheelAngle1\"/>"
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168
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"afWheelAngle2\"/>"
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169
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"afWheelAngle3\"/>"
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170
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"afWheelDeflection0\"/>"
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171
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"afWheelDeflection1\"/>"
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172
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"afWheelDeflection2\"/>"
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173
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"afWheelDeflection3\"/>"
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174
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tUInt32\" name=\"nLightMask\"/>"
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175
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"<element alignment=\"4\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tUInt32\" name=\"void\"/>"
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"</struct>"
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177
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"<struct alignment=\"8\" name=\"tDrivetrainI\" version=\"1\">"
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178
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fGear\"/>"
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179
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fGearboxType\"/>"
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180
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fDrivetrainType\"/>"
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181
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fTorqueGearBoxIn\"/>"
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182
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fTorqueCenterDiffOut0\"/>"
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183
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fTorqueCenterDiffOut1\"/>"
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184
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fTorqueShaft\"/>"
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185
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"</struct>"
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186
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"<struct alignment=\"8\" name=\"tEngineI\" version=\"1\">"
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187
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fRpm\"/>"
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188
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fTorque\"/>"
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189
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"<element alignment=\"8\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fLoad\"/>"
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190
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"</struct>"
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191
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"<struct alignment=\"8\" name=\"tWheelI\" version=\"1\">"
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192
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fSpringCompression\"/>"
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193
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fSteeringAngle\"/>"
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194
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fRotAngle\"/>"
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195
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fRotAngleDot\"/>"
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196
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fSlip\"/>"
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197
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fBrakePressure\"/>"
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198
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"</struct>"
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199
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"<struct alignment=\"8\" name=\"%s\" version=\"1\">"
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200
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"0\" type=\"tVTDPositionI\" name=\"sPosition\"/>"
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201
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tVehicleModelAnimationStateI\" name=\"sAnimationState\"/>"
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202
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tFloat64\" name=\"fSteeringMoment\"/>"
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203
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tEngineI\" name=\"sEngine\"/>"
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204
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tDrivetrainI\" name=\"sDrivetrain\"/>"
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205
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tWheelI\" name=\"sWheel0\"/>"
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206
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tWheelI\" name=\"sWheel1\"/>"
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207
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tWheelI\" name=\"sWheel2\"/>"
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208
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"%u\" type=\"tWheelI\" name=\"sWheel3\"/>"
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209
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"</struct>"
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210
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"<struct alignment=\"8\" name=\"tVTDPositionI\" version=\"1\">"
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211
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"0\" type=\"tFloat64\" name=\"afXYZ0\"/>"
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212
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"8\" type=\"tFloat64\" name=\"afXYZ1\"/>"
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213
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"16\" type=\"tFloat64\" name=\"afXYZ2\"/>"
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214
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"24\" type=\"tFloat64\" name=\"afXYZdot0\"/>"
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215
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"32\" type=\"tFloat64\" name=\"afXYZdot1\"/>"
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216
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"40\" type=\"tFloat64\" name=\"afXYZdot2\"/>"
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|
217
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"48\" type=\"tFloat64\" name=\"afXYZdotdot0\"/>"
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218
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"56\" type=\"tFloat64\" name=\"afXYZdotdot1\"/>"
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219
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"64\" type=\"tFloat64\" name=\"afXYZdotdot2\"/>"
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220
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"72\" type=\"tFloat64\" name=\"afHPR0\"/>"
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221
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"80\" type=\"tFloat64\" name=\"afHPR1\"/>"
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222
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"88\" type=\"tFloat64\" name=\"afHPR2\"/>"
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223
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"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"96\" type=\"tFloat64\" name=\"afHPRdot0\"/>"
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224
|
"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"104\" type=\"tFloat64\" name=\"afHPRdot1\"/>"
|
|
225
|
"<element alignment=\"1\" arraysize=\"1\" byteorder=\"LE\" bytepos=\"112\" type=\"tFloat64\" name=\"afHPRdot2\"/>"
|
|
226
|
"</struct>"
|
|
227
|
"</structs>",
|
|
228
|
offsetof(tVehicleModelAnimationState, fSteeringPosition),
|
|
229
|
offsetof(tVehicleModelAnimationState, afWheelAngle),
|
|
230
|
offsetof(tVehicleModelAnimationState, afWheelAngle) + sizeof(tFloat64),
|
|
231
|
offsetof(tVehicleModelAnimationState, afWheelAngle) + 2*sizeof(tFloat64),
|
|
232
|
offsetof(tVehicleModelAnimationState, afWheelAngle) + 3*sizeof(tFloat64),
|
|
233
|
offsetof(tVehicleModelAnimationState, afWheelDeflection),
|
|
234
|
offsetof(tVehicleModelAnimationState, afWheelDeflection) + sizeof(tFloat64),
|
|
235
|
offsetof(tVehicleModelAnimationState, afWheelDeflection) + 2*sizeof(tFloat64),
|
|
236
|
offsetof(tVehicleModelAnimationState, afWheelDeflection) + 3*sizeof(tFloat64),
|
|
237
|
offsetof(tVehicleModelAnimationState, nLightMask),
|
|
238
|
offsetof(tVehicleModelAnimationState, nLightMask) + 4,
|
|
239
|
|
|
240
|
offsetof(tDrivetrain, fGear),
|
|
241
|
offsetof(tDrivetrain, fGearboxType),
|
|
242
|
offsetof(tDrivetrain, fDrivetrainType),
|
|
243
|
offsetof(tDrivetrain, fTorqueGearBoxIn),
|
|
244
|
offsetof(tDrivetrain, fTorqueCenterDiffOut),
|
|
245
|
offsetof(tDrivetrain, fTorqueCenterDiffOut) + sizeof(tFloat64),
|
|
246
|
offsetof(tDrivetrain, fTorqueShaft),
|
|
247
|
|
|
248
|
offsetof(tEngine, fRpm),
|
|
249
|
offsetof(tEngine, fTorque),
|
|
250
|
offsetof(tEngine, fLoad),
|
|
251
|
|
|
252
|
offsetof(tWheel, fSpringCompression),
|
|
253
|
offsetof(tWheel, fSteeringAngle),
|
|
254
|
offsetof(tWheel, fRotAngle),
|
|
255
|
offsetof(tWheel, fRotAngleDot),
|
|
256
|
offsetof(tWheel, fSlip),
|
|
257
|
offsetof(tWheel, fBrakePressure),
|
|
258
|
|
|
259
|
OUTPUT_PIN_NAME,
|
|
260
|
offsetof(tVehicleModelOutputBehaviour,sAnimationState),
|
|
261
|
offsetof(tVehicleModelOutputBehaviour,fSteeringMoment),
|
|
262
|
offsetof(tVehicleModelOutputBehaviour,sEngine),
|
|
263
|
offsetof(tVehicleModelOutputBehaviour,sDrivetrain),
|
|
264
|
offsetof(tVehicleModelOutputBehaviour,sWheel),
|
|
265
|
offsetof(tVehicleModelOutputBehaviour,sWheel) + sizeof(tWheel),
|
|
266
|
offsetof(tVehicleModelOutputBehaviour,sWheel) + 2*sizeof(tWheel),
|
|
267
|
offsetof(tVehicleModelOutputBehaviour,sWheel) + 3*sizeof(tWheel)
|
|
268
|
);
|
|
269
|
|
|
270
|
ucom::cObjectPtr<adtf::IMediaType> pType = NULL;
|
|
271
|
RETURN_IF_FAILED(m_oOutputVehicleBehaviour.GetMediaType(&pType));
|
|
272
|
ucom::cObjectPtr<adtf::IMediaTypeDescription> pTypeDescription = NULL;
|
|
273
|
if(IS_OK(pType->GetInterface(IID_ADTF_MEDIA_TYPE_DESCRIPTION, (tVoid**)&pTypeDescription)))
|
|
274
|
{
|
|
275
|
//if you are not sure your description works!
|
|
276
|
//react on this return value!
|
|
277
|
RETURN_IF_FAILED(pTypeDescription->SetMediaSampleDescription(OUTPUT_PIN_NAME,
|
|
278
|
strMyDescription.GetPtr(),
|
|
279
|
IMediaDescription::MDF_DDL020000));
|
|
280
|
}
|
|
281
|
}
|
|
282
|
break;
|
|
283
|
|
|
284
|
case StageGraphReady:
|
|
285
|
memset(&m_sVehicleBehaviour, 0, sizeof(m_sVehicleBehaviour));
|
|
286
|
m_DataReceived = false;
|
|
287
|
|
|
288
|
m_oThread.SetCycleTime(m_CycleTime);
|
|
289
|
m_oThread.Create(0,0,A_UTILS_NS::cThread::TF_Suspended,this);
|
|
290
|
break;
|
|
291
|
}
|
|
292
|
|
|
293
|
RETURN_NOERROR;
|
|
294
|
}
|
|
295
|
|
|
296
|
|
|
297
|
tResult cVehicleModelOutputB::Shutdown(tInitStage eStage, __exception)
|
|
298
|
{
|
|
299
|
tResult nResult = ERR_NOERROR;
|
|
300
|
|
|
301
|
RETURN_IF_FAILED(cFilter::Shutdown(eStage, __exception_ptr));
|
|
302
|
|
|
303
|
switch (eStage)
|
|
304
|
{
|
|
305
|
case StageFirst: break;
|
|
306
|
case StageNormal: break;
|
|
307
|
|
|
308
|
case StageGraphReady:
|
|
309
|
{
|
|
310
|
m_oThread.Release();
|
|
311
|
break;
|
|
312
|
}
|
|
313
|
}
|
|
314
|
RETURN_NOERROR;
|
|
315
|
}
|
|
316
|
|
|
317
|
|
|
318
|
tResult cVehicleModelOutputB::Cycle(__exception)
|
|
319
|
{
|
|
320
|
if(!m_DataReceived) return ERR_NOERROR;
|
|
321
|
// declare smart pointer to media sample which automatically
|
|
322
|
// releases the reference to the sample in the sample pool
|
|
323
|
// at function exit
|
|
324
|
ucom::cObjectPtr<adtf::IMediaSample> pNewSample;
|
|
325
|
|
|
326
|
// get a new media sample container from sample pool
|
|
327
|
RETURN_IF_FAILED(AllocMediaSample((tVoid**)&pNewSample));
|
|
328
|
|
|
329
|
// alloc array buffer
|
|
330
|
RETURN_IF_FAILED(pNewSample->AllocBuffer(sizeof(tVehicleModelOutputBehaviour)));
|
|
331
|
|
|
332
|
tTimeStamp tmStreamTime = _clock ? _clock->GetStreamTime() : adtf_util::cHighResTimer::GetTime();
|
|
333
|
pNewSample->SetTime(tmStreamTime);
|
|
334
|
|
|
335
|
// access the sample data buffer
|
|
336
|
try
|
|
337
|
{
|
|
338
|
// acquire the write lock
|
|
339
|
__sample_write_lock(pNewSample, tVehicleModelOutputBehaviour, pDestDataX);
|
|
340
|
if(pDestDataX==NULL) return ERR_POINTER;
|
|
341
|
|
|
342
|
memcpy(pDestDataX, &m_sVehicleBehaviour, sizeof(tVehicleModelOutputBehaviour));
|
|
343
|
|
|
344
|
// the write lock will be released when leaving this scope
|
|
345
|
}
|
|
346
|
catch(...)
|
|
347
|
{
|
|
348
|
LOG_ERROR("VehicleModelOutputBehaviour: cVehicleModelOutputB::Cycle crashed.");
|
|
349
|
return ERR_EXCEPTION_RAISED;
|
|
350
|
}
|
|
351
|
|
|
352
|
// transmit sample through the output pin
|
|
353
|
RETURN_IF_FAILED(m_oOutputVehicleBehaviour.Transmit(pNewSample));
|
|
354
|
|
|
355
|
RETURN_NOERROR;
|
|
356
|
}
|
|
357
|
|
|
358
|
|
|
359
|
tResult cVehicleModelOutputB::ThreadFunc(A_UTILS_NS::cThread *pThread, tVoid*pvUserData, tSize szUserData)
|
|
360
|
{
|
|
361
|
if(pThread==&m_oThread) Cycle();
|
|
362
|
RETURN_NOERROR;
|
|
363
|
}
|
|
364
|
|
|
365
|
|
|
366
|
|
|
367
|
tResult cVehicleModelOutputB::OnPinEvent(IPin* pSource, tInt nEventCode, tInt nParam1, tInt nParam2, IMediaSample* pMediaSample)
|
|
368
|
{
|
|
369
|
if(nEventCode == IPinEventSink::PE_MediaSampleReceived)
|
|
370
|
{
|
|
371
|
if(pSource == &m_pInputPin)
|
|
372
|
{
|
|
373
|
tResult ret = ProcessInputBehaviour(pMediaSample);
|
|
374
|
if(ret != ERR_NOERROR) return ret;
|
|
375
|
ret = PushOutputVehicleBehaviour();
|
|
376
|
if(ret != ERR_NOERROR) return ret;
|
|
377
|
}
|
|
378
|
else RETURN_ERROR(ERR_NOT_SUPPORTED);
|
|
379
|
}
|
|
380
|
|
|
381
|
RETURN_NOERROR;
|
|
382
|
}
|
|
383
|
|
|
384
|
|
|
385
|
tResult cVehicleModelOutputB::OnAsyncPinEvent(IPin *pSource, tInt nEventCode, tInt nParam1, tInt nParam2, IMediaSample *pMediaSample)
|
|
386
|
{
|
|
387
|
if(nEventCode == IPinEventSink::PE_MediaSampleReceived)
|
|
388
|
{
|
|
389
|
if(pSource == &m_pInputPin)
|
|
390
|
{
|
|
391
|
tResult ret = ProcessInputBehaviour(pMediaSample);
|
|
392
|
if(ret != ERR_NOERROR) return ret;
|
|
393
|
ret = PushOutputVehicleBehaviour();
|
|
394
|
if(ret != ERR_NOERROR) return ret;
|
|
395
|
}
|
|
396
|
else RETURN_ERROR(ERR_NOT_SUPPORTED);
|
|
397
|
}
|
|
398
|
|
|
399
|
RETURN_NOERROR;
|
|
400
|
}
|
|
401
|
|
|
402
|
|
|
403
|
#define LD_Float64(dest,src) memcpy(&dest,src,sizeof(double))
|
|
404
|
#define LD_UInt32(dest,src) memcpy(&dest,src,sizeof(unsigned))
|
|
405
|
|
|
406
|
void cVehicleModelOutputB::LoadVTDposition(const char *psInput, tVTDPosition &pVTDPosition)
|
|
407
|
{
|
|
408
|
// <struct alignment="8" name="tVTDPosition" version="1">
|
|
409
|
LD_Float64(pVTDPosition.afXYZ[0],psInput); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="0" type="tFloat64" name="afXYZ0"/>
|
|
410
|
LD_Float64(pVTDPosition.afXYZ[1],psInput+8); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="8" type="tFloat64" name="afXYZ1"/>
|
|
411
|
LD_Float64(pVTDPosition.afXYZ[2],psInput+16); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="16" type="tFloat64" name="afXYZ2"/>
|
|
412
|
LD_Float64(pVTDPosition.afXYZdot[0],psInput+24); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="24" type="tFloat64" name="afXYZdot0"/>
|
|
413
|
LD_Float64(pVTDPosition.afXYZdot[1],psInput+32); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="32" type="tFloat64" name="afXYZdot1"/>
|
|
414
|
LD_Float64(pVTDPosition.afXYZdot[2],psInput+40); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="40" type="tFloat64" name="afXYZdot2"/>
|
|
415
|
LD_Float64(pVTDPosition.afXYZdotdot[0],psInput+48); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="48" type="tFloat64" name="afXYZdotdot0"/>
|
|
416
|
LD_Float64(pVTDPosition.afXYZdotdot[1],psInput+56); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="56" type="tFloat64" name="afXYZdotdot1"/>
|
|
417
|
LD_Float64(pVTDPosition.afXYZdotdot[2],psInput+64); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="64" type="tFloat64" name="afXYZdotdot2"/>
|
|
418
|
LD_Float64(pVTDPosition.afHPR[0],psInput+72); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="72" type="tFloat64" name="afHPR0"/>
|
|
419
|
LD_Float64(pVTDPosition.afHPR[1],psInput+80); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="80" type="tFloat64" name="afHPR1"/>
|
|
420
|
LD_Float64(pVTDPosition.afHPR[2],psInput+88); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="88" type="tFloat64" name="afHPR2"/>
|
|
421
|
LD_Float64(pVTDPosition.afHPRdot[0],psInput+96); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="96" type="tFloat64" name="afHPRdot0"/>
|
|
422
|
LD_Float64(pVTDPosition.afHPRdot[1],psInput+104); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="104" type="tFloat64" name="afHPRdot1"/>
|
|
423
|
LD_Float64(pVTDPosition.afHPRdot[2],psInput+112); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="112" type="tFloat64" name="afHPRdot2"/>
|
|
424
|
// </struct>
|
|
425
|
}
|
|
426
|
|
|
427
|
|
|
428
|
void cVehicleModelOutputB::LoadModelAnimationState(const char *psInput, tVehicleModelAnimationState &pAnimationState)
|
|
429
|
{
|
|
430
|
// <struct alignment="8" name="tVehicleModelAnimationState" version="1">
|
|
431
|
LD_Float64(pAnimationState.fSteeringPosition,psInput); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="0" type="tFloat64" name="fSteeringPosition"/>
|
|
432
|
LD_Float64(pAnimationState.afWheelAngle[0],psInput+8); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="8" type="tFloat64" name="afWheelAngle0"/>
|
|
433
|
LD_Float64(pAnimationState.afWheelAngle[1],psInput+16); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="16" type="tFloat64" name="afWheelAngle1"/>
|
|
434
|
LD_Float64(pAnimationState.afWheelAngle[2],psInput+24); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="24" type="tFloat64" name="afWheelAngle2"/>
|
|
435
|
LD_Float64(pAnimationState.afWheelAngle[3],psInput+32); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="32" type="tFloat64" name="afWheelAngle3"/>
|
|
436
|
LD_Float64(pAnimationState.afWheelDeflection[0],psInput+40); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="40" type="tFloat64" name="afWheelDeflection0"/>
|
|
437
|
LD_Float64(pAnimationState.afWheelDeflection[1],psInput+48); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="48" type="tFloat64" name="afWheelDeflection1"/>
|
|
438
|
LD_Float64(pAnimationState.afWheelDeflection[2],psInput+56); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="56" type="tFloat64" name="afWheelDeflection2"/>
|
|
439
|
LD_Float64(pAnimationState.afWheelDeflection[3],psInput+64); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="64" type="tFloat64" name="afWheelDeflection3"/>
|
|
440
|
LD_UInt32(pAnimationState.afWheelDeflection[0],psInput+72); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="72" type="tUInt32" name="nLightMask"/>
|
|
441
|
// <element alignment="4" arraysize="1" byteorder="LE" bytepos="74" type="tUInt32" name="void"/>
|
|
442
|
// </struct>
|
|
443
|
}
|
|
444
|
|
|
445
|
|
|
446
|
void cVehicleModelOutputB::LoadEngine(const char *psInput, tEngine &pEngine)
|
|
447
|
{
|
|
448
|
// <struct alignment="8" name="tEngine" version="1">
|
|
449
|
LD_Float64(pEngine.fRpm,psInput); //// <element alignment="8" arraysize="1" byteorder="LE" bytepos="0" type="tFloat64" name="fRpm"/>
|
|
450
|
LD_Float64(pEngine.fTorque,psInput+8); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="8" type="tFloat64" name="fTorque"/>
|
|
451
|
LD_Float64(pEngine.fLoad,psInput+16); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="16" type="tFloat64" name="fLoad"/>
|
|
452
|
// </struct>
|
|
453
|
}
|
|
454
|
|
|
455
|
|
|
456
|
void cVehicleModelOutputB::LoadWheel(const char *psInput, tWheel &pWheel)
|
|
457
|
{
|
|
458
|
// <struct alignment="8" name="tWheel" version="1">
|
|
459
|
LD_Float64(pWheel.fSpringCompression,psInput); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="0" type="tFloat64" name="fSpringCompression"/>
|
|
460
|
LD_Float64(pWheel.fSteeringAngle,psInput+8); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="8" type="tFloat64" name="fSteeringAngle"/>
|
|
461
|
LD_Float64(pWheel.fRotAngle,psInput+16); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="16" type="tFloat64" name="fRotAngle"/>
|
|
462
|
LD_Float64(pWheel.fRotAngleDot,psInput+24); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="24" type="tFloat64" name="fRotAngleDot"/>
|
|
463
|
LD_Float64(pWheel.fSlip,psInput+32); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="32" type="tFloat64" name="fSlip"/>
|
|
464
|
LD_Float64(pWheel.fBrakePressure,psInput+40); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="40" type="tFloat64" name="fBrakePressure"/>
|
|
465
|
// </struct>
|
|
466
|
}
|
|
467
|
|
|
468
|
|
|
469
|
void cVehicleModelOutputB::LoadDrivetrain(const char *psInput, tDrivetrain &pDrivetrain)
|
|
470
|
{
|
|
471
|
// <struct alignment="8" name="tDrivetrain" version="1">
|
|
472
|
LD_Float64(pDrivetrain.fGear,psInput); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="0" type="tFloat64" name="fGear"/>
|
|
473
|
LD_Float64(pDrivetrain.fGearboxType,psInput+8); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="8" type="tFloat64" name="fGearboxType"/>
|
|
474
|
LD_Float64(pDrivetrain.fDrivetrainType,psInput+16);// <element alignment="8" arraysize="1" byteorder="LE" bytepos="16" type="tFloat64" name="fDrivetrainType"/>
|
|
475
|
LD_Float64(pDrivetrain.fTorqueGearBoxIn,psInput+24);// <element alignment="8" arraysize="1" byteorder="LE" bytepos="24" type="tFloat64" name="fTorqueGearBoxIn"/>
|
|
476
|
LD_Float64(pDrivetrain.fTorqueCenterDiffOut[0],psInput+32);// <element alignment="8" arraysize="1" byteorder="LE" bytepos="32" type="tFloat64" name="fTorqueCenterDiffOut0"/>
|
|
477
|
LD_Float64(pDrivetrain.fTorqueCenterDiffOut[1],psInput+40);// <element alignment="8" arraysize="1" byteorder="LE" bytepos="40" type="tFloat64" name="fTorqueCenterDiffOut1"/>
|
|
478
|
LD_Float64(pDrivetrain.fTorqueShaft,psInput+48); // <element alignment="8" arraysize="1" byteorder="LE" bytepos="48" type="tFloat64" name="fTorqueShaft"/>
|
|
479
|
// </struct>
|
|
480
|
}
|
|
481
|
|
|
482
|
|
|
483
|
//#############################################################################
|
|
484
|
tResult cVehicleModelOutputB::ProcessInputBehaviour(IMediaSample* pSample)
|
|
485
|
{
|
|
486
|
RETURN_IF_POINTER_NULL(pSample);
|
|
487
|
const char *psInput;
|
|
488
|
|
|
489
|
const int sz = pSample->GetSize();
|
|
490
|
if(sz != 480) return ERR_INVALID_TYPE;
|
|
491
|
|
|
492
|
pSample->Lock((const tVoid**)&psInput);
|
|
493
|
|
|
494
|
memset(&m_sVehicleBehaviour,0,sizeof(m_sVehicleBehaviour));
|
|
495
|
// <struct alignment="8" name="tVehicleModelOutputBehaviour" version="1">
|
|
496
|
LoadVTDposition(psInput,m_sVehicleBehaviour.sPosition); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="0" type="tVTDPosition" name="sPosition"/>
|
|
497
|
LoadModelAnimationState(psInput+120,m_sVehicleBehaviour.sAnimationState); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="120" type="tVehicleModelAnimationState" name="sAnimationState"/>
|
|
498
|
LD_Float64(m_sVehicleBehaviour.fSteeringMoment,psInput+200); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="200" type="tFloat64" name="fSteeringMoment"/>
|
|
499
|
LoadEngine(psInput+208,m_sVehicleBehaviour.sEngine); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="208" type="tEngine" name="sEngine"/>
|
|
500
|
LoadDrivetrain(psInput+232,m_sVehicleBehaviour.sDrivetrain); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="232" type="tDrivetrain" name="sDrivetrain"/>
|
|
501
|
LoadWheel(psInput+288,m_sVehicleBehaviour.sWheel[0]); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="288" type="tWheel" name="sWheel0"/>
|
|
502
|
LoadWheel(psInput+336,m_sVehicleBehaviour.sWheel[1]); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="336" type="tWheel" name="sWheel1"/>
|
|
503
|
LoadWheel(psInput+384,m_sVehicleBehaviour.sWheel[2]); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="384" type="tWheel" name="sWheel2"/>
|
|
504
|
LoadWheel(psInput+432,m_sVehicleBehaviour.sWheel[3]); // <element alignment="1" arraysize="1" byteorder="LE" bytepos="432" type="tWheel" name="sWheel3"/>
|
|
505
|
// </struct>
|
|
506
|
|
|
507
|
pSample->Unlock((tVoid*)psInput);
|
|
508
|
m_DataReceived = true;
|
|
509
|
RETURN_NOERROR;
|
|
510
|
}
|
|
511
|
|
|
512
|
|
|
513
|
//#############################################################################
|
|
514
|
tResult cVehicleModelOutputB::PushOutputVehicleBehaviour()
|
|
515
|
{
|
|
516
|
cObjectPtr<IMediaSample> pVehicleBehaviourSample;
|
|
517
|
RETURN_IF_FAILED(AllocMediaSample((tVoid**)&pVehicleBehaviourSample));
|
|
518
|
tTimeStamp tmStreamTime = _clock ? _clock->GetStreamTime() : adtf_util::cHighResTimer::GetTime();
|
|
519
|
try{RETURN_IF_FAILED(pVehicleBehaviourSample->Update(tmStreamTime, &m_sVehicleBehaviour, sizeof(m_sVehicleBehaviour), IMediaSample::MSF_None));}
|
|
520
|
catch(...)
|
|
521
|
{
|
|
522
|
LOG_ERROR("VehicleModelOutputBehaviour: pVehicleInputInit->Update crashed.");
|
|
523
|
return ERR_EXCEPTION_RAISED;
|
|
524
|
}
|
|
525
|
RETURN_IF_FAILED(m_oOutputVehicleBehaviour.Transmit(pVehicleBehaviourSample));
|
|
526
|
|
|
527
|
RETURN_NOERROR;
|
|
528
|
}
|