fixed issues with OpenCV plugin

7 files changed, 107 insertions, 142 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d62d3408..fbbc5afc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,7 +6,7 @@ set(CMAKE_BUILD_TYPE, Debug)
 include(FindPkgConfig)
 
 set(PROJECT_NAME "automotive-message-broker")
-set(PROJECT_VERSION "0.12.900")
+set(PROJECT_VERSION "0.12.901")
 set(PROJECT_CODENAME "agera")
 set(PROJECT_QUALITY "beta")
 
diff --git a/examples/opencvdbusconfig.in b/examples/opencvdbusconfig.in
index 0040e1a5..7634c755 100644
--- a/examples/opencvdbusconfig.in
+++ b/examples/opencvdbusconfig.in
@@ -4,7 +4,7 @@
     {
       "name" : "OpenCV LUX",
       "path" : "@PLUGIN_INSTALL_PATH@/opencvluxplugin.so",
-      "threaded" : "false",
+      "threaded" : "true",
       "opencl" : "true",
       "fps" : "30",
       "pixelLowerBound" : "18",
diff --git a/plugins/common/ambpluginimpl.h b/plugins/common/ambpluginimpl.h
index 070b6d10..d9482f0f 100644
--- a/plugins/common/ambpluginimpl.h
+++ b/plugins/common/ambpluginimpl.h
@@ -138,14 +138,23 @@ protected:
 	 * \param zone Zone of the property to be found.
 	 * \return AbstractPropertyType* if signal exits otherwise nullptr(in this case we do not know its datatype)
 	 */
-	virtual AbstractPropertyType* findPropertyType(const VehicleProperty::Property& propertyName, const Zone::Type& zone);
+	virtual AbstractPropertyType* findPropertyType(const VehicleProperty::Property& propertyName, const Zone::Type& zone = Zone::None);
 
 	/*! Registers property in AMB
 	 * \param zone Zone of the property to be registered.
 	 * \param typeFactory Function to be used to create instance of the AbstractPropertyType for registered property
 	 * \return AbstractPropertyType* if signal exits otherwise nullptr(in this case we do not know its datatype)
 	 */
-	virtual std::shared_ptr<AbstractPropertyType> addPropertySupport(Zone::Type zone, std::function<AbstractPropertyType* (void)> typeFactory);
+	std::shared_ptr<AbstractPropertyType> addPropertySupport(Zone::Type zone, std::function<AbstractPropertyType* (void)> typeFactory);
+
+	template <class T>
+	std::shared_ptr<AbstractPropertyType> addPropertySupport(Zone::Type zone)
+	{
+		auto typeFactory = [](){
+			return new T;
+		};
+		return addPropertySupport(zone, typeFactory);
+	}
 
 	//
 	// data:
diff --git a/plugins/opencvlux/CMakeLists.txt b/plugins/opencvlux/CMakeLists.txt
index f7ef01c7..a4c6d852 100644
--- a/plugins/opencvlux/CMakeLists.txt
+++ b/plugins/opencvlux/CMakeLists.txt
@@ -46,15 +46,17 @@ if(Qt5Core_FOUND)
 endif(Qt5Core_FOUND)
 set(CMAKE_AUTOMOC ON)
 
-include_directories(${CMAKE_SOURCE_DIR}/lib ${include_dirs} ${OpenCV_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${QT_INCLUDE_DIRS})
+include_directories(${CMAKE_SOURCE_DIR}/lib ${include_dirs} ${OpenCV_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${QT_INCLUDE_DIRS} ${CMAKE_SOURCE_DIR}/plugins/common)
 
 set(opencvluxplugin_headers opencvluxplugin.h)
 set(opencvluxplugin_sources opencvluxplugin.cpp)
 
 add_library(opencvluxplugin MODULE ${opencvluxplugin_sources})
 set_target_properties(opencvluxplugin PROPERTIES PREFIX "")
-target_link_libraries(opencvluxplugin amb -L${CMAKE_CURRENT_BINARY_DIR}/lib ${link_libraries} ${OpenCV_LIBS} ${Boost_LIBRARIES} ${QT_LIBRARIES})
+target_link_libraries(opencvluxplugin amb -L${CMAKE_CURRENT_BINARY_DIR}/lib ${link_libraries} ${OpenCV_LIBS} ${Boost_LIBRARIES} ${QT_LIBRARIES} amb-plugins-common -L${CMAKE_CURRENT_BINARY_DIR}/plugins/common)
 
 install(TARGETS opencvluxplugin LIBRARY DESTINATION ${PLUGIN_INSTALL_PATH})
 
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/README ${CMAKE_CURRENT_SOURCE_DIR}/README @ONLY)
+
 endif(opencvlux_plugin)
diff --git a/plugins/opencvlux/README b/plugins/opencvlux/README
index f8db1d2f..d182c32d 100644
--- a/plugins/opencvlux/README
+++ b/plugins/opencvlux/README
@@ -1,6 +1,7 @@
 OpenCV "lux" plugin
+Version: @PROJECT_VERSION@
 
-This plugin simulates the ExteriorBrigtness property using a traditional webcamera.  It works 
+This plugin simulates the ExteriorBrigtness property using a traditional webcamera.  It works
 by taking the mean pixel intensity of the web camera image and estimating lux.  The particular
 can be calibrated using the "pixelUpperBound" and "pixelLowerBound" variables.
 
@@ -13,14 +14,14 @@ Currently, this plugin has been tested with OpenCV 2.4.4.
 To use the OpenCV plugin, add the following to the "sources" array in /etc/ambd/config:
 
 {
-	"name" : "OpenCV LUX",
-	"path" : "/usr/lib/automotive-message-broker/opencvluxplugin.so",
-	"threaded" : "true",
-	"pixelLowerBound" : "0",
-	"pixelUpperBound" : "255",
-	"fps" : "30",
-	"opencl" : "false",
-	"device" : "0"
+  "name" : "OpenCV LUX",
+  "path" : "/usr/lib/automotive-message-broker/opencvluxplugin.so",
+  "threaded" : "true",
+  "pixelLowerBound" : "0",
+  "pixelUpperBound" : "255",
+  "fps" : "30",
+  "opencl" : "false",
+  "device" : "0"
 }
 
 NOTE: some features require the qtmainloop to be running.  see the main README for details.
@@ -50,13 +51,13 @@ How many times per second to poll image data from the camera.
 Default: "30"
 
 "pixelLowerBound"
-Lowest calibration value for a camera.  This is the average pixel intensity value the camera reports when 
+Lowest calibration value for a camera.  This is the average pixel intensity value the camera reports when
 it is completely covered.
 
 Default: "0"
 
 "pixelUpperBound"
-The highest calibration value for camera.  This is the average pixel intensity value when a very bright 
+The highest calibration value for camera.  This is the average pixel intensity value when a very bright
 light (like the sun) is being projected at the camera.
 
 Default: "255"
@@ -89,16 +90,19 @@ open or closed.  If closed for a period of time, DriverDrowsiness will change to
 Default: "false"
 
 
-AMB Properties:
+Properties:
 
 VideoLogging
 Turn on and off video logging
-
 Type: bool
 Access: readwrite
 
 DriverDrowsiness
 True if the driver has been detected drowsy.
+Type: bool
+Access: readonly
 
+OpenCL
+True if OpenCL acceleration is enabled.
 Type: bool
 Access: readonly
diff --git a/plugins/opencvlux/opencvluxplugin.cpp b/plugins/opencvlux/opencvluxplugin.cpp
index ea4f2e12..c23ec775 100644
--- a/plugins/opencvlux/opencvluxplugin.cpp
+++ b/plugins/opencvlux/opencvluxplugin.cpp
@@ -20,6 +20,7 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 #include "timestamp.h"
 #include <listplusplus.h>
 #include <superptr.hpp>
+#include <ambplugin.h>
 
 #include <iostream>
 #include <thread>
@@ -45,26 +46,28 @@ const std::string OpenCL = "OpenCL";
 
 extern "C" AbstractSource * create(AbstractRoutingEngine* routingengine, map<string, string> config)
 {
-	VehicleProperty::registerProperty(VideoLogging, [](){
+	auto plugin = new AmbPlugin<OpenCvLuxPlugin>(routingengine, config);
+	plugin->init();
+
+	return plugin;
+}
+
+OpenCvLuxPlugin::OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string> config, AbstractSource &parent)
+	:AmbPluginImpl(re, config, parent), lastLux(0), speed(0), latitude(0), longitude(0)
+{
+	videoLogging = addPropertySupport(Zone::None, [](){
 		return new BasicPropertyType<bool>(VideoLogging, false);
 	});
 
-	VehicleProperty::registerProperty(DriverDrowsiness, [](){
+	driverDrowsiness = addPropertySupport(Zone::None, [](){
 		return new OpenCvLuxPlugin::DriverDrowsinessType(DriverDrowsiness, false);
 	});
 
-	VehicleProperty::registerProperty(OpenCL, [](){
+	openCl = addPropertySupport(Zone::None, [](){
 		return new BasicPropertyType<bool>(OpenCL, false);
 	});
 
-	return new OpenCvLuxPlugin(routingengine, config);
-}
-
-OpenCvLuxPlugin::OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string> config)
-	:AbstractSource(re, config), lastLux(0), speed(0), latitude(0), longitude(0), extBrightness(new VehicleProperty::ExteriorBrightnessType(0))
-{
-	driverDrowsiness = amb::make_unique(new DriverDrowsinessType(DriverDrowsiness, false));
-	openCl = amb::make_unique(new BasicPropertyType<bool>(OpenCL, false));
+	extBrightness = addPropertySupport<VehicleProperty::ExteriorBrightnessType>(Zone::None);
 
 	shared = amb::make_unique(new Shared);
 	shared->parent = this;
@@ -131,7 +134,9 @@ OpenCvLuxPlugin::OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string>
 			openCl->setValue(cv::ocl::useOpenCL());
 		}
 		else
+		{
 			DebugOut(DebugOut::Warning) << "You really don't have openCL support." << endl;
+		}
 	}
 
 	if(config.find("ddd") != config.end())
@@ -167,9 +172,9 @@ OpenCvLuxPlugin::OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string>
 
 	}
 
-	routingEngine->subscribeToProperty(VehicleProperty::VehicleSpeed, this);
-	routingEngine->subscribeToProperty(VehicleProperty::Latitude, this);
-	routingEngine->subscribeToProperty(VehicleProperty::Longitude, this);
+	routingEngine->subscribeToProperty(VehicleProperty::VehicleSpeed, &parent);
+	routingEngine->subscribeToProperty(VehicleProperty::Latitude, &parent);
+	routingEngine->subscribeToProperty(VehicleProperty::Longitude, &parent);
 }
 
 OpenCvLuxPlugin::~OpenCvLuxPlugin()
@@ -177,7 +182,7 @@ OpenCvLuxPlugin::~OpenCvLuxPlugin()
 
 }
 
-const string OpenCvLuxPlugin::uuid()
+const string OpenCvLuxPlugin::uuid() const
 {
 	return "3c7a1ea0-7d2e-11e2-9e96-0800200c9a66";
 }
@@ -192,28 +197,11 @@ void OpenCvLuxPlugin::getPropertyAsync(AsyncPropertyReply *reply)
 	{
 		/// we want to turn on the camera for one shot to get an image and determine the intensity
 
-		if(init())
-			grabImage(shared.get());
+		init();
+		grabImage(shared.get());
 	}
 
-	if(reply->property == VehicleProperty::ExteriorBrightness)
-	{
-		replyQueue.push_back(reply);
-	}
-	else if(reply->property == VideoLogging)
-	{
-		BasicPropertyType<bool> tmp(VideoLogging, shared->loggingOn);
-		reply->value = &tmp;
-		reply->success = true;
-		reply->completed(reply);
-	}
-	else  ///We don't support what you are asking for.  Reply false
-	{
-		reply->value = nullptr;
-		reply->success = false;
-		reply->error = AsyncPropertyReply::InvalidOperation;
-		reply->completed(reply);
-	}
+	AmbPluginImpl::getPropertyAsync(reply);
 }
 
 void OpenCvLuxPlugin::getRangePropertyAsync(AsyncRangePropertyReply *reply)
@@ -223,29 +211,25 @@ void OpenCvLuxPlugin::getRangePropertyAsync(AsyncRangePropertyReply *reply)
 
 AsyncPropertyReply *OpenCvLuxPlugin::setProperty(AsyncSetPropertyRequest request )
 {
-	AsyncPropertyReply *reply = new AsyncPropertyReply(request);
-
-	reply->success = false;
-	reply->error = AsyncPropertyReply::InvalidOperation;
-
 	if(request.property == VideoLogging)
 	{
 		shared->loggingOn = request.value->value<bool>();
-		reply->success = true;
-		reply->error = AsyncPropertyReply::NoError;
+	}
+	if(request.property == OpenCL)
+	{
+		QMutexLocker lock(&mutex);
+		cv::ocl::setUseOpenCL(request.value->value<bool>());
 	}
 
-	reply->completed(reply);
-
-	return reply;
+	return AmbPluginImpl::setProperty(request);;
 }
 
 void OpenCvLuxPlugin::subscribeToPropertyChanges(VehicleProperty::Property property)
 {
 	if(!shared->mRequests.size())
 	{
-		if(init())
-			g_timeout_add(1000 / shared->fps, grabImage, shared.get());
+		init();
+		g_timeout_add(1000 / shared->fps, grabImage, shared.get());
 	}
 
 	shared->mRequests.push_back(property);
@@ -256,21 +240,6 @@ void OpenCvLuxPlugin::unsubscribeToPropertyChanges(VehicleProperty::Property pro
 	removeOne(&shared->mRequests,property);
 }
 
-PropertyList OpenCvLuxPlugin::supported()
-{
-	PropertyList props;
-	props.push_back(VehicleProperty::ExteriorBrightness);
-	props.push_back(DriverDrowsiness);
-	props.push_back(VideoLogging);
-
-	return props;
-}
-
-int OpenCvLuxPlugin::supportedOperations()
-{
-	return Get | Set;
-}
-
 void OpenCvLuxPlugin::propertyChanged(AbstractPropertyType *value)
 {
 	QMutexLocker lock(&mutex);
@@ -326,7 +295,7 @@ static int grabImage(void *data)
 		}
 	}
 
-	/*if(shared->threaded)
+	if(shared->threaded)
 	{
 		QFutureWatcher<uint> *watcher = new QFutureWatcher<uint>();
 		QObject::connect(watcher, &QFutureWatcher<uint>::finished, shared->parent, &OpenCvLuxPlugin::imgProcResult);
@@ -338,10 +307,11 @@ static int grabImage(void *data)
 	}
 	else
 	{
-		shared->parent->writeVideoFrame(m_image);
+		if(shared->parent->videoLogging->value<bool>())
+			shared->parent->writeVideoFrame(m_image);
 		try
 		{
-			int lux = evalImage(m_image, shared);
+			uint16_t lux = evalImage(m_image, shared);
 			shared->parent->updateProperty(lux);
 		}
 		catch(...)
@@ -350,7 +320,7 @@ static int grabImage(void *data)
 		}
 
 		//detectLight(m_image,shared);
-	}*/
+	}
 
 	if(shared->mRequests.size())
 	{
@@ -386,7 +356,7 @@ static uint evalImage(cv::UMat qImg, OpenCvLuxPlugin::Shared *shared)
 }
 
 
-bool OpenCvLuxPlugin::init()
+void OpenCvLuxPlugin::init()
 {
 	if(!shared->m_capture)
 	{
@@ -398,13 +368,11 @@ bool OpenCvLuxPlugin::init()
 
 	if(!shared->m_capture->isOpened())
 	{
-		DebugOut()<<"we failed to open camera device ("<<device<<") or no camera found"<<endl;
-		return false;
+		DebugOut() << "we failed to open camera device (" << device << ") or no camera found" << endl;
+		return;
 	}
 
-	if(configuration.find("logging") != configuration.end() &&
-			configuration["logging"] == "true" &&
-			(!shared->mWriter || !shared->mWriter->isOpened()))
+	if(!shared->mWriter || !shared->mWriter->isOpened())
 	{
 		cv::Size s = cv::Size((int) shared->m_capture->get(cv::CAP_PROP_FRAME_WIDTH),
 							  (int) shared->m_capture->get(cv::CAP_PROP_FRAME_HEIGHT));
@@ -413,7 +381,7 @@ bool OpenCvLuxPlugin::init()
 
 		if(codec.empty() || codec.size() != 4)
 		{
-			DebugOut(DebugOut::Warning)<<"Invalid codec.  Using default: MJPG"<<endl;
+			DebugOut(DebugOut::Warning)<<"Invalid codec: "<<codec <<". Using default: MJPG"<<endl;
 			codec = "MJPG";
 		}
 
@@ -430,7 +398,7 @@ bool OpenCvLuxPlugin::init()
 	DebugOut()<<"camera frame height: "<<shared->m_capture->get(cv::CAP_PROP_FRAME_HEIGHT)<<endl;
 	DebugOut()<<"camera frame fps: "<<shared->m_capture->get(cv::CAP_PROP_FPS)<<endl;
 
-	return true;
+	return;
 }
 
 
@@ -485,33 +453,15 @@ void OpenCvLuxPlugin::writeVideoFrame(cv::UMat f)
 	}
 }
 
-void OpenCvLuxPlugin::updateProperty(uint lux)
+void OpenCvLuxPlugin::updateProperty(uint16_t lux)
 {
-	 extBrightness->setValue(lux);
-
-	for(auto reply : replyQueue)
-	{
-		reply->value = extBrightness.get();
-		reply->success = true;
-		try{
-			if(reply->completed)
-				reply->completed(reply);
-		}
-		catch(...)
-		{
-			DebugOut(DebugOut::Warning)<<"reply failed"<<endl;
-		}
-	}
-
-	replyQueue.clear();
+	extBrightness->setValue(lux);
 
 	if(lux != lastLux && shared->mRequests.size())
 	{
 		lastLux = lux;
 		routingEngine->updateProperty(extBrightness.get(), uuid());
 	}
-
-
 }
 
 void OpenCvLuxPlugin::imgProcResult()
@@ -531,10 +481,10 @@ void OpenCvLuxPlugin::imgProcResult()
 	}
 }
 
-TrafficLight::Color detectLight(cv::Mat img, OpenCvLuxPlugin::Shared *shared)
+TrafficLight::Color detectLight(cv::UMat img, OpenCvLuxPlugin::Shared *shared)
 {
 
-	cv::Mat gray;
+	cv::UMat gray;
 
 	cv::cvtColor(img, gray, cv::COLOR_BGR2GRAY);
 	cv::GaussianBlur(gray, gray, cv::Size(9,9), 2, 2);
@@ -554,11 +504,11 @@ TrafficLight::Color detectLight(cv::Mat img, OpenCvLuxPlugin::Shared *shared)
 
 		try {
 
-			cv::Mat light(img, rect);
+			cv::UMat light(img, rect);
 
-			cv::circle( img, center, radius, cv::Scalar(0,0,255), 3, 8, 0 );
+			cv::circle(img, center, radius, cv::Scalar(0,0,255), 3, 8, 0 );
 
-			cv::rectangle(img, rect,cv::Scalar(255,0,0));
+			cv::rectangle(img, rect.tl(), rect.br(), cv::Scalar(255,0,0));
 
 			cv::Scalar avgPixel = cv::mean(light);
 
@@ -624,14 +574,19 @@ void OpenCvLuxPlugin::detectEyes(cv::UMat frame)
 			hasEyes = true;
 			DebugOut() << "Number of eyes: " << eyes.size() << endl;
 
-			driverDrowsiness->setValue(false);
-			routingEngine->updateProperty(driverDrowsiness.get(), this->uuid());
+			if(driverDrowsiness->value<bool>())
+			{
+				driverDrowsiness->setValue(false);
+				routingEngine->updateProperty(driverDrowsiness.get(), this->uuid());
+			}
 		}
 		else
 		{
-			DebugOut() << "No eyes!!!" << endl;
-			driverDrowsiness->setValue(true);
-			routingEngine->updateProperty(driverDrowsiness.get(), this->uuid());
+			if(!driverDrowsiness->value<bool>())
+			{
+				driverDrowsiness->setValue(true);
+				routingEngine->updateProperty(driverDrowsiness.get(), this->uuid());
+			}
 		}
 	}
 }
diff --git a/plugins/opencvlux/opencvluxplugin.h b/plugins/opencvlux/opencvluxplugin.h
index 550a9fb9..aecd08e2 100644
--- a/plugins/opencvlux/opencvluxplugin.h
+++ b/plugins/opencvlux/opencvluxplugin.h
@@ -20,6 +20,7 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 #define OPENCVLUXPLUGIN_H
 
 #include <abstractsource.h>
+#include <ambpluginimpl.h>
 #include <string>
 #include <memory>
 
@@ -31,7 +32,7 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 
 using namespace std;
 
-class OpenCvLuxPlugin: public QObject, public AbstractSource
+class OpenCvLuxPlugin: public QObject, public AmbPluginImpl
 {
 Q_OBJECT
 public:
@@ -57,40 +58,35 @@ public:
 		int frameCount;
 	};
 
-	OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string> config);
+	OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string> config,  AbstractSource& parent);
 
 	~OpenCvLuxPlugin();
 
-	const string uuid();
+	const string uuid() const;
 	void getPropertyAsync(AsyncPropertyReply *reply);
 	void getRangePropertyAsync(AsyncRangePropertyReply *reply);
 	AsyncPropertyReply * setProperty(AsyncSetPropertyRequest request);
 	void subscribeToPropertyChanges(VehicleProperty::Property property);
 	void unsubscribeToPropertyChanges(VehicleProperty::Property property);
-	PropertyList supported();
-
-	int supportedOperations();
 
 	void propertyChanged(AbstractPropertyType* value);
 
 	void supportedChanged(const PropertyList &);
 
-	void updateProperty(uint lux);
+	void updateProperty(uint16_t lux);
 
 	void writeVideoFrame(cv::UMat frame);
 
 	void detectEyes(cv::UMat frame);
 
-public Q_SLOTS:
-	void imgProcResult();
+	void init();
 
+	std::shared_ptr<AbstractPropertyType> videoLogging;
 
-private: /// methods:
-	bool init();
+public Q_SLOTS:
+	void imgProcResult();
 
 private:
-
-
 	uint speed;
 	uint latitude;
 	uint longitude;
@@ -99,7 +95,7 @@ private:
 	std::string device;
 	std::list<AsyncPropertyReply*> replyQueue;
 
-	std::unique_ptr<VehicleProperty::ExteriorBrightnessType> extBrightness;
+	std::shared_ptr<AbstractPropertyType> extBrightness;
 
 	std::unique_ptr<Shared> shared;
 	QMutex mutex;
@@ -107,13 +103,12 @@ private:
 	std::unique_ptr<cv::CascadeClassifier> faceCascade;
 	std::unique_ptr<cv::CascadeClassifier> eyeCascade;
 
-	std::unique_ptr<DriverDrowsinessType> driverDrowsiness;
-
-	std::unique_ptr<BasicPropertyType<bool>> openCl;
+	std::shared_ptr<AbstractPropertyType> driverDrowsiness;
+	std::shared_ptr<AbstractPropertyType> openCl;
 };
 
 static int grabImage(void *data);
-static uint evalImage(cv::Mat qImg, OpenCvLuxPlugin::Shared *shared);
+static uint evalImage(cv::UMat qImg, OpenCvLuxPlugin::Shared *shared);
 
 namespace TrafficLight
 {
@@ -126,7 +121,7 @@ enum Color
 };
 }
 
-TrafficLight::Color detectLight(cv::Mat img, OpenCvLuxPlugin::Shared* shared);
+TrafficLight::Color detectLight(cv::UMat img, OpenCvLuxPlugin::Shared* shared);
 
 
 #endif // EXAMPLEPLUGIN_H