ShmemPublishVehPoseSource.cc

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#include <utils/ConfigFile.h>

#include "OutputVehPoseSource.h"

UTILS_INTF_CREATOR(VehPoseSource, shmemPublish, gen, params, globals)
{
  UTILS_INTF_REPORT(VehPoseSource, shmemPublish);
  // pose output specification inherited from params for the most part
  utils::ConfigFile output_params;
  utils::ConfigFile::copy(*params, output_params);
  output_params.setString("tag", "shmem");  // set up shmem tag
  output_params.set("contained", "{}"); //we clear contained to avoid confusion
  
  // get the contained specification
  utils::ConfigFile contained_params;
  params->getStruct("contained", contained_params);

  // now create the output instance parameters
  utils::ConfigFile final_params;
  final_params.setString("tag", "output");
  final_params.setStruct("contained", contained_params);
  final_params.setStruct("output", output_params);

  OutputVehPoseSource* intf = new OutputVehPoseSource();
  if (!intf->init(final_params, gen, globals)) {
    delete intf;
    return NULL;
  }
  return intf;
}

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