void
System::ApplyDamage(double damage)
{
if (!power_on)
damage /= 10;
if (components.size() > 0) {
int index = rand() % components.size();
if (damage > 50) {
damage/=2;
components[index]->ApplyDamage(damage);
index = rand() % components.size();
}
components[index]->ApplyDamage(damage);
if (safety < 0.5)
SetPowerLevel(50);
else if (safety < 1.0)
SetPowerLevel(safety * 100);
}
else {
availability -= (float) (damage/100.0f);
if (availability < 0.01) availability = 0.0f;
}
}
void
System::DoEMCON(int index)
{
int e = GetEMCONPower(index);
if (power_level * 100 > e || emcon != index) {
if (e == 0) {
PowerOff();
}
else {
if (emcon != index)
PowerOn();
SetPowerLevel(e);
}
}
emcon = index;
}
//thread to receive messages and respond
void *ResponderMessageThread(void *arg)
{
uint8_t requestor;
DEBUGPRINT("responder: thread started\n");
while (1)
{
psMessage_t *msg = GetNextMessage(&responderQueue);
//check message for response requirement
switch (msg->header.messageType)
{
case CONFIG:
if (msg->configPayload.responder == XBEE)
{
requestor = msg->configPayload.requestor;
DEBUGPRINT("responder: Send Config received\n");
configCount = 0;
#define optionmacro(name, var, minV, maxV, def) sendOptionConfig(name, var, minV, maxV, requestor);
#include "options.h"
#undef optionmacro
#define settingmacro(name, var, minV, maxV, def) sendSettingConfig(name, var, minV, maxV, requestor);
#include "settings.h"
#undef settingmacro
{
psMessage_t msg;
psInitPublish(msg, CONFIG_DONE);
msg.configPayload.requestor = requestor;
msg.configPayload.responder = XBEE;
msg.configPayload.count = configCount;
RouteMessage(&msg);
}
DEBUGPRINT("responder: Config Done\n");
}
break;
case PING_MSG:
{
if (msg->header.source != OVERMIND)
{
DEBUGPRINT("responder: APP Ping received\n");
psMessage_t msg2;
psInitPublish(msg2, PING_RESPONSE);
strcpy(msg2.responsePayload.subsystem, "BEE");
msg2.responsePayload.flags = (startFlag ? RESPONSE_FIRST_TIME : 0) | (agentOnline ? RESPONSE_AGENT_ONLINE : 0);
msg2.responsePayload.requestor = msg->requestPayload.requestor;
startFlag = 0;
RouteMessage(&msg2);
PublishConditions(true);
SendXBeeStats();
SendAgentStats();
}
}
break;
case NEW_SETTING:
DEBUGPRINT("responder: New Setting: %s = %f\n", msg->settingPayload.name, msg->settingPayload.value);
#define settingmacro(n, var, minV, maxV, def) if (strncmp(n,msg->settingPayload.name,PS_NAME_LENGTH) == 0)\
var = msg->settingPayload.value;\
sendSettingConfig(n, var, minV, maxV, 0);
#include "settings.h"
#undef settingmacro
if (strncmp("Power Level",msg->settingPayload.name,PS_NAME_LENGTH) == 0) SetPowerLevel((int) powerLevel);
break;
case SET_OPTION:
DEBUGPRINT("responder: Set Option: %s = %i\n", msg->optionPayload.name, msg->optionPayload.value);
#define optionmacro(n, var, minV, maxV, def) if (strncmp(n,msg->optionPayload.name,PS_NAME_LENGTH) == 0)\
var = msg->optionPayload.value;\
sendOptionConfig(n, var, minV, maxV, 0);
#include "options.h"
#undef optionmacro
break;
default:
//ignore anything else
break;
}
DoneWithMessage(msg);
}
return 0;
}
