Merge pull request #24 from tripzero/master0.11.903

Version 0.11.903

10 files changed, 120 insertions, 115 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0c7e3fd9..b29475e2 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 "0.11.902")
+set(PROJECT_VERSION "0.11.903")
 set(PROJECT_CODENAME "veyron")
 set(PROJECT_QUALITY "beta")
 
@@ -43,7 +43,7 @@ option(usebluez5 "use bluez 5 API" OFF)
 
 #turn on -fpic/-fpie:
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-list(APPEND CMAKE_CXX_FLAGS "-fpie -pie -std=c++11")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fpie -pie -std=c++11")
 
 if(opencvlux_plugin)
    message(STATUS "OpenCV Lux plugin enabled")
@@ -74,15 +74,6 @@ if(DOXYGEN_FOUND)
 endif(DOXYGEN_FOUND)
 endif(enable_docs)
 
-find_library(libtool_LIBRARY ltdl DOC "Libtool libraries")
-find_path(libtool_INCLUDE_DIR ltdl.h DOC "Libtool headers")
-
-if(libtool_LIBRARY)
-     message(STATUS "libltdl / libtool found")
-else(libtool_LIBRARY)
-     message(FATAL_ERROR "libltdl / libtool missing.  please install libltdl / libtool")
-endif(libtool_LIBRARY)
-
 find_package(Boost REQUIRED)
 
 
@@ -92,7 +83,7 @@ pkg_check_modules(json REQUIRED json)
 add_definitions(-DDBusServiceName="org.automotive.message.broker")
 
 set(include_dirs ${libtool_INCLUDE_DIR} ${glib_INCLUDE_DIRS} ${gio_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${json_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/lib)
-set(link_libraries -lamb ${libtool_LIBRARY} ${glib_LIBRARIES} ${json_LIBRARIES} -L${CMAKE_CURRENT_BINARY_DIR}/lib)
+set(link_libraries -lamb ${glib_LIBRARIES} ${json_LIBRARIES} -L${CMAKE_CURRENT_BINARY_DIR}/lib)
 
 if(qtmainloop)
   message(STATUS "using Qt mainloop")
@@ -122,7 +113,7 @@ if(qtmainloop)
 endif(qtmainloop)
 
 if(usebluez5)
-        add_definitions(-DUSE_BLUEZ5)
+  add_definitions(-DUSE_BLUEZ5)
 
 endif(usebluez5)
 
diff --git a/RELEASE b/RELEASE
index de33af81..35689225 100644
--- a/RELEASE
+++ b/RELEASE
@@ -7,6 +7,7 @@ New features:
 - New bluetooth spp plugin
 - cangen and cansim plugins simulate a real CAN network.
 - New priority queue option. properties are routed according to priority.
+- OpenCV plugin video logging: record video with speed overlay
 
 Changes:
 - Deprecated and removed the "FooChanged" (where "Foo" is a property like "VehicleSpeed") signal
@@ -22,3 +23,4 @@ Changes:
 Fixes:
 - database plugin updated to use zones
 - obd-II plugin updated to use bluez5 APIs
+- openCV plugin fixed crashes
diff --git a/ambd/CMakeLists.txt b/ambd/CMakeLists.txt
index 38613d8a..184fc4d5 100644
--- a/ambd/CMakeLists.txt
+++ b/ambd/CMakeLists.txt
@@ -15,7 +15,7 @@ endif(qtmainloop)
 add_executable(ambd ${ambd_sources})
 
 include_directories(${include_dirs} )
-target_link_libraries(ambd ${link_libraries} amb)
+target_link_libraries(ambd ${link_libraries} dl amb)
 
 configure_file (${CMAKE_CURRENT_SOURCE_DIR}/config.in ${CMAKE_CURRENT_BINARY_DIR}/config @ONLY)
 
diff --git a/ambd/pluginloader.cpp b/ambd/pluginloader.cpp
index d2470b8c..f821907b 100644
--- a/ambd/pluginloader.cpp
+++ b/ambd/pluginloader.cpp
@@ -45,12 +45,6 @@ std::string get_file_contents(const char *filename)
 }
 PluginLoader::PluginLoader(string configFile, int argc, char** argv): f_create(NULL), routingEngine(nullptr), mMainLoop(nullptr)
 {
-	if(lt_dlinit())
-	{
-		cerr<<"error initializing libtool: "<<__FILE__<<" - "<<__FUNCTION__<<":"<<__LINE__<<" "<<lt_dlerror()<<endl;
-		throw std::runtime_error("Error initializing libtool. Aborting");
-	}
-
 	DebugOut()<<"Loading config file: "<<configFile<<endl;
 	json_object *rootobject;
 	json_tokener *tokener = json_tokener_new();
@@ -75,7 +69,7 @@ PluginLoader::PluginLoader(string configFile, int argc, char** argv): f_create(N
 		// Handle extra characters after parsed object as desired.
 		// e.g. issue an error, parse another object from that point, etc...
 	}
-	
+
 	json_object *coreobject = json_object_object_get(rootobject,"routingEngine");
 	if (coreobject)
 	{
@@ -151,7 +145,7 @@ PluginLoader::PluginLoader(string configFile, int argc, char** argv): f_create(N
 		DebugOut()<<"No mainloop specified in config.  Using glib by default."<<endl;
 		mMainLoop = new GlibMainLoop(argc,argv);
 	}
-	
+
 	json_object *sourcesobject = json_object_object_get(rootobject,"sources");
 
 	if(!sourcesobject)
@@ -159,22 +153,22 @@ PluginLoader::PluginLoader(string configFile, int argc, char** argv): f_create(N
 		DebugOut()<<"Error getting sources member: "<<endl;
 		throw std::runtime_error("Error getting sources member");
 	}
-	
+
 	//g_assert(json_reader_is_array(reader));
 	g_assert(json_object_get_type(sourcesobject)==json_type_array);
-	
-	
+
+
 	array_list *sourceslist = json_object_get_array(sourcesobject);
 	if (!sourceslist)
 	{
 		DebugOut() << "Error getting source list" << endl;
 		throw std::runtime_error("Error getting sources list");
 	}
-	
+
 	for(int i=0; i < array_list_length(sourceslist); i++)
 	{
 		json_object *obj = (json_object*)array_list_get_idx(sourceslist,i); //This is an object
-		
+
 		std::map<std::string, std::string> configurationMap;
 		json_object_object_foreach(obj, key, val)
 		{
@@ -186,7 +180,7 @@ PluginLoader::PluginLoader(string configFile, int argc, char** argv): f_create(N
 		string path = configurationMap["path"];
 
 		AbstractSource* plugin = loadPlugin<AbstractSource*>(path,configurationMap);
-		
+
 		if(plugin != nullptr)
 		{
 			mSources.push_back(plugin);
@@ -195,9 +189,9 @@ PluginLoader::PluginLoader(string configFile, int argc, char** argv): f_create(N
 
 	//json_object_put(sourcesobject);
 	///read the sinks:
-	
+
 	json_object *sinksobject = json_object_object_get(rootobject,"sinks");
-	
+
 	if (!sinksobject)
 	{
 		DebugOut() << "Error getting sink object" << endl;
@@ -212,8 +206,8 @@ PluginLoader::PluginLoader(string configFile, int argc, char** argv): f_create(N
 		DebugOut() << "Error getting sink list" << endl;
 		throw std::runtime_error("Error getting sink list");
 	}
-	
-	
+
+
 	for(int i=0; i < array_list_length(sinkslist); i++)
 	{
 		json_object *obj = (json_object*)array_list_get_idx(sinkslist,i);
@@ -227,7 +221,7 @@ PluginLoader::PluginLoader(string configFile, int argc, char** argv): f_create(N
 			configurationMap[key] = valstr;
 		}
 
-		
+
 		string path = configurationMap["path"];
 
 		AbstractSinkManager* plugin = loadPlugin<AbstractSinkManager*>(path, configurationMap);
@@ -262,15 +256,13 @@ PluginLoader::PluginLoader(string configFile, int argc, char** argv): f_create(N
 
 PluginLoader::~PluginLoader()
 {
-	for(auto itr = mSinkManagers.begin(); itr != mSinkManagers.end(); itr++)
+	for(auto i :mSinkManagers)
 	{
-		delete *itr;
+		delete i;
 	}
 
-	auto handle = openHandles.begin();
-	while(handle != openHandles.end())
-		lt_dlclose(*handle++);
-	lt_dlexit();
+	for(auto handle : openHandles)
+		dlclose(handle);
 }
 
 IMainLoop *PluginLoader::mainloop()
diff --git a/ambd/pluginloader.h b/ambd/pluginloader.h
index 224c3501..e92dfb38 100644
--- a/ambd/pluginloader.h
+++ b/ambd/pluginloader.h
@@ -21,7 +21,7 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 
 #include <string>
 #include <functional>
-#include <ltdl.h>
+#include <dlfcn.h>
 #include <iostream>
 
 #include "abstractsource.h"
@@ -49,43 +49,34 @@ public:
 	IMainLoop* mainloop();
 
 	std::string errorString();
-        
-	
+
+
 private: ///methods:
-	
+
 	template<class T>
 	T loadPlugin(string pluginName, map<string, string> config)
 	{
 		DebugOut()<<"Loading plugin: "<<pluginName<<endl;
-		
-		if(lt_dlinit())
-		{
-			mErrorString = lt_dlerror();
-			DebugOut(DebugOut::Error)<<"error initializing libtool: "<<__FILE__<<" - "<<__FUNCTION__<<":"<<__LINE__<<" "<<mErrorString<<endl;
-			return nullptr;
-		}
-		
-		lt_dlerror();
-		
-		lt_dlhandle handle = lt_dlopenext(pluginName.c_str());
-		
+
+		void* handle = dlopen(pluginName.c_str(), RTLD_LAZY);
+
 		if(!handle)
 		{
-			mErrorString = lt_dlerror();
+			mErrorString = dlerror();
 			DebugOut(DebugOut::Error)<<"error opening plugin: "<<pluginName<<" in "<<__FILE__<<" - "<<__FUNCTION__<<":"<<__LINE__<<" "<<mErrorString<<endl;
 			return nullptr;
 		}
-		
-		f_create = (create_t *)lt_dlsym(handle, "create");
-		
-		//mErrorString = lt_dlerror();
-		
-		if(f_create) 
+
+		openHandles.push_back(handle);
+
+		f_create = (create_t *)dlsym(handle, "create");
+
+		if(f_create)
 		{
 			void* obj = f_create(routingEngine, config);
 			return static_cast<T>( obj );
 		}
-		
+
 		return nullptr;
 	}
 
@@ -93,17 +84,18 @@ private: ///methods:
 	{
 		DebugOut()<<"Loading plugin: "<<pluginName<<endl;
 
-		lt_dlhandle handle = lt_dlopenext(pluginName.c_str());
+		void* handle = dlopen(pluginName.c_str(), RTLD_LAZY);
 
 		if(!handle)
 		{
-			mErrorString = lt_dlerror();
+			mErrorString = dlerror();
 			DebugOut(DebugOut::Error)<<"error opening plugin: "<<pluginName<<" in "<<__FILE__<<" - "<<__FUNCTION__<<":"<<__LINE__<<" "<<mErrorString<<endl;
 			return nullptr;
 		}
+
 		openHandles.push_back(handle);
 
-		m_create = (create_mainloop_t *)lt_dlsym(handle, "create");
+		m_create = (create_mainloop_t *)dlsym(handle, "create");
 
 		if(m_create)
 		{
@@ -117,17 +109,18 @@ private: ///methods:
 	{
 		DebugOut()<<"Loading plugin: "<<pluginName<<endl;
 
-		lt_dlhandle handle = lt_dlopenext(pluginName.c_str());
+		void* handle = dlopen(pluginName.c_str(), RTLD_LAZY);
 
 		if(!handle)
 		{
-			mErrorString = lt_dlerror();
+			mErrorString = dlerror();
 			cerr<<"error opening plugin: "<<pluginName<<" in "<<__FILE__<<" - "<<__FUNCTION__<<":"<<__LINE__<<" "<<mErrorString<<endl;
 			return nullptr;
 		}
+
 		openHandles.push_back(handle);
 
-		r_create = (createRoutingEngine *)lt_dlsym(handle, "create");
+		r_create = (createRoutingEngine *)dlsym(handle, "create");
 
 		if(r_create)
 		{
@@ -137,17 +130,17 @@ private: ///methods:
 
 		return nullptr;
 	}
-	
+
 private:
-	
+
 	std::string mPluginPath;
 	std::string mErrorString;
-	
+
 	AbstractRoutingEngine* routingEngine;
-	
+
 	SourceList mSources;
 	list<AbstractSinkManager*> mSinkManagers;
-	
+
 	create_t * f_create;
 	create_mainloop_t * m_create;
 	createRoutingEngine * r_create;
@@ -155,7 +148,7 @@ private:
 
 	IMainLoop* mMainLoop;
 
-	std::vector<lt_dlhandle> openHandles;
+	std::vector<void*> openHandles;
 };
 
 #endif // PLUGINLOADER_H
diff --git a/docs/amb.idl b/docs/amb.idl
index cea54980..35a7cc5f 100644
--- a/docs/amb.idl
+++ b/docs/amb.idl
@@ -968,7 +968,11 @@ interface org.automotive.AirbagStatus extends VehiclePropertyType  {
    attribute UInt16 AirbagStatus readonly
 }
 
-enumeration
+enumeration AirbagStatus {
+  inactive = 0,
+  active = 1,
+  deployed = 2
+}
 
 /*!
  * Deprecated.  Use "Door".  Remove in 0.13
diff --git a/lib/abstractpropertytype.h b/lib/abstractpropertytype.h
index c22d2ff5..decc456a 100644
--- a/lib/abstractpropertytype.h
+++ b/lib/abstractpropertytype.h
@@ -144,7 +144,7 @@ public:
 	 */
 	Priority priority;
 
-	void setValue(boost::any val)
+	virtual void setValue(boost::any val)
 	{
 		mValue = val;
 		timestamp = amb::currentTime();
@@ -453,6 +453,16 @@ public:
 		return value<T>();
 	}
 
+	void setValue(T val)
+	{
+		AbstractPropertyType::setValue(val);
+	}
+
+	void setValue(boost::any val)
+	{
+		AbstractPropertyType::setValue(val);
+	}
+
 private:
 
 	//GVariant* mVariant;
diff --git a/lib/abstractsink.h b/lib/abstractsink.h
index 479f2e08..6494adec 100644
--- a/lib/abstractsink.h
+++ b/lib/abstractsink.h
@@ -1,19 +1,19 @@
 /*
-    Copyright (C) 2012  Intel Corporation
+	Copyright (C) 2012  Intel Corporation
 
-    This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
+	This library is free software; you can redistribute it and/or
+	modify it under the terms of the GNU Lesser General Public
+	License as published by the Free Software Foundation; either
+	version 2.1 of the License, or (at your option) any later version.
 
-    This library is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-    Lesser General Public License for more details.
+	This library is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+	Lesser General Public License for more details.
 
-    You should have received a copy of the GNU Lesser General Public
-    License along with this library; if not, write to the Free Software
-    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+	You should have received a copy of the GNU Lesser General Public
+	License along with this library; if not, write to the Free Software
+	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
 
@@ -43,9 +43,9 @@ class AbstractSink
 public:
 	AbstractSink(AbstractRoutingEngine* engine, map<string, string> config);
 	virtual ~AbstractSink();
-	
+
 	///Pure virtual methods:
-	
+
 	/*! uuid() is a unique identifier
 	  * @return a guid-style unique identifier
 	  */
@@ -63,7 +63,7 @@ public:
 	 * @arg supportedProperties the new list of supported properties.
 	 */
 	virtual void supportedChanged(const PropertyList & supportedProperties) = 0;
-	
+
 protected:
 	/*!
 	 * \brief routingEngine is the core of AMB.  It is used to pass plugin and property information to other plugins
@@ -73,14 +73,14 @@ protected:
 };
 
 
-/// TODO:  this class actually serves no purpose.
+/// TODO:  deprecate in 0.13.
 class AbstractSinkManager
 {
 public:
-	
+
 	AbstractSinkManager(AbstractRoutingEngine* engine, map<string, string> config);
 	virtual ~AbstractSinkManager(){}
-	
+
 protected:
 	AbstractRoutingEngine* routingEngine;
 	map<string, string> configuration;
diff --git a/plugins/opencvlux/opencvluxplugin.cpp b/plugins/opencvlux/opencvluxplugin.cpp
index f4433045..d3874014 100644
--- a/plugins/opencvlux/opencvluxplugin.cpp
+++ b/plugins/opencvlux/opencvluxplugin.cpp
@@ -202,6 +202,10 @@ const string OpenCvLuxPlugin::uuid()
 
 void OpenCvLuxPlugin::getPropertyAsync(AsyncPropertyReply *reply)
 {
+	reply->timedout = [this](AsyncPropertyReply* reply) {
+		removeOne(&replyQueue, reply);
+	};
+
 	if(!shared->m_capture || !shared->m_capture->isOpened())
 	{
 		/// we want to turn on the camera for one shot to get an image and determine the intensity
@@ -214,18 +218,18 @@ void OpenCvLuxPlugin::getPropertyAsync(AsyncPropertyReply *reply)
 	{
 		replyQueue.push_back(reply);
 	}
-	if(reply->property == VideoLogging)
+	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 = NULL;
+		reply->value = nullptr;
 		reply->success = false;
+		reply->error = AsyncPropertyReply::InvalidOperation;
 		reply->completed(reply);
 	}
 }
@@ -327,10 +331,10 @@ static int grabImage(void *data)
 		QFutureWatcher<uint> *watcher = new QFutureWatcher<uint>();
 		QObject::connect(watcher, &QFutureWatcher<uint>::finished, shared->parent, &OpenCvLuxPlugin::imgProcResult);
 
-		QFuture<uint> future = QtConcurrent::run( evalImage, m_image, shared);
+		QFuture<uint> future = QtConcurrent::run(evalImage, m_image, shared);
 		watcher->setFuture(future);
 
-		QtConcurrent::run(shared->parent, &OpenCvLuxPlugin::writeVideoFrame,m_image);
+		QtConcurrent::run(shared->parent, &OpenCvLuxPlugin::writeVideoFrame, m_image);
 	}
 	else
 	{
@@ -345,14 +349,17 @@ static int grabImage(void *data)
 		return true;
 	}
 
-	delete shared->m_capture;
-	shared->m_capture = NULL;
 	return false;
-
 }
 
 static uint evalImage(cv::Mat qImg, OpenCvLuxPlugin::Shared *shared)
 {
+	if(qImg.empty())
+	{
+		DebugOut(DebugOut::Warning)<<"Empty image frame."<<endl;
+		return 0;
+	}
+
 	cv::Scalar avgPixelIntensity;
 
 
@@ -404,29 +411,34 @@ static uint evalImage(cv::Mat qImg, OpenCvLuxPlugin::Shared *shared)
 
 bool OpenCvLuxPlugin::init()
 {
-	if(shared->m_capture) delete shared->m_capture;
-
-	if(shared->kinect)
+	if(!shared->m_capture && shared->kinect)
 	{
 		shared->m_capture = new cv::VideoCapture(CV_CAP_OPENNI);
 	}
-	else if(device == "")
-		shared->m_capture = new cv::VideoCapture(0);
-	else shared->m_capture = new cv::VideoCapture(atoi(device.c_str()));
+	else if(!shared->m_capture)
+	{
+		if(device == "")
+			shared->m_capture = new cv::VideoCapture(0);
+		else
+			shared->m_capture = new cv::VideoCapture(atoi(device.c_str()));
+	}
 
 	if(!shared->m_capture->isOpened())
 	{
 		DebugOut()<<"we failed to open camera device ("<<device<<") or no camera found"<<endl;
 		return false;
 	}
-	if(configuration.find("logging") != configuration.end() && configuration["logging"] == "true" && !shared->mWriter || !shared->mWriter->isOpened())
+
+	if(configuration.find("logging") != configuration.end() &&
+			configuration["logging"] == "true" &&
+			(!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));
 
 		std::string codec = configuration["codec"];
 
-		if(codec == "" || codec.size() != 4)
+		if(codec.empty() || codec.size() != 4)
 		{
 			DebugOut(DebugOut::Warning)<<"Invalid codec.  Using default: MJPG"<<endl;
 			codec = "MJPG";
@@ -434,13 +446,13 @@ bool OpenCvLuxPlugin::init()
 
 		std::string filename = configuration["logfile"];
 
-		if(filename == "") filename = "/tmp/video.avi";
+		if(filename.empty()) filename = "/tmp/video.avi";
 
 		boost::algorithm::to_upper(codec);
 
 		if(shared->mWriter) delete shared->mWriter;
 
-		shared->mWriter = new cv::VideoWriter(filename,CV_FOURCC(codec.at(0),codec.at(1),codec.at(2),codec.at(3)),30,s);
+		shared->mWriter = new cv::VideoWriter(filename, CV_FOURCC(codec.at(0), codec.at(1), codec.at(2), codec.at(3)),30,s);
 	}
 
 	DebugOut()<<"camera frame width: "<<shared->m_capture->get(CV_CAP_PROP_FRAME_WIDTH)<<endl;
@@ -513,7 +525,8 @@ void OpenCvLuxPlugin::updateProperty(uint lux)
 		reply->value = extBrightness.get();
 		reply->success = true;
 		try{
-			reply->completed(reply);
+			if(reply->completed)
+				reply->completed(reply);
 		}
 		catch(...)
 		{
diff --git a/plugins/testplugin/CMakeLists.txt b/plugins/testplugin/CMakeLists.txt
index e2750dbf..f39c3423 100644
--- a/plugins/testplugin/CMakeLists.txt
+++ b/plugins/testplugin/CMakeLists.txt
@@ -9,7 +9,7 @@ set(testplugin_headers testplugin.h)
 set(testplugin_sources testplugin.cpp)
 add_library(testplugin MODULE ${testplugin_sources})
 set_target_properties(testplugin PROPERTIES PREFIX "")
-target_link_libraries(testplugin amb -L${CMAKE_CURRENT_BINARY_DIR}/lib ${link_libraries})
+target_link_libraries(testplugin -L${CMAKE_CURRENT_BINARY_DIR}/lib)
 
 install(TARGETS testplugin LIBRARY DESTINATION ${PLUGIN_INSTALL_PATH})