bool CMOOSNavEngine::Initialise(STRING_LIST sParams)
{
//make a store for observations..
m_pStore = new CMOOSNavObsStore;
//we may be being asked to map thrust to velocity
string sVal;
if(MOOSGetValueFromToken(sParams,"THRUST2VELOCITY",sVal))
{
if(MOOSStrCmp(sVal,"TRUE"))
{
if(MOOSGetValueFromToken(sParams,"THRUST2VELOCITY_GAIN",sVal))
{
m_bThrust2Vel = true;
m_dfThrust2VelGain = atof(sVal.c_str());
}
}
}
if(MOOSGetValueFromToken(sParams,"SV",sVal))
{
double dfNewSV = atof(sVal.c_str());
if(dfNewSV !=0)
{
m_dfSV=dfNewSV;
}
}
//set up navigation filter logging....
bool bLog = false;
if(MOOSGetValueFromToken(sParams,"NAV_LOG",sVal))
{
bLog = MOOSStrCmp(sVal,"TRUE");
}
if(bLog)
{
string sPath="";
//do we have a globally defined path?
CProcessConfigReader Reader;
Reader.SetFile(m_sMissionFileName);
if(!Reader.GetValue("GLOBALLOGPATH",sPath))
{
//no..get it locally
MOOSGetValueFromToken(sParams,"NAV_LOG_PATH",sPath);
}
bool bTimeStamp=false;
if(MOOSGetValueFromToken(sParams,"NAV_LOG_TIMESTAMP",sVal))
{
bTimeStamp = MOOSStrCmp(sVal,"TRUE");
}
m_Logger.Initialise(m_sName,sPath,bTimeStamp);
}
//Allocate Global states..
SetUpGlobalStates();
AddTheVehicle(sParams);
//fixed observations are attached to the COG...
AddSensor("FIXED","COG", CMOOSNavSensor::FIXED,0,0,0);
//set our default start up state...
//set in constructor of derived classes
SetOnline(m_bInitialOnline);
return true;
}
bool CMOOSLogger::CopyMissionFile()
{
//open the original
ifstream MissionFile;
MissionFile.open(m_sMissionFile.c_str());
if(!MissionFile.is_open())
return MOOSFail("\nWarning:\n\tfailed to open copy of mission file - it can't be backed up\n");;
//open a copy file
ofstream MissionCopy;
if(!OpenFile(MissionCopy,m_sMissionCopyName))
return MOOSFail("Failed to open a destination copy of mission file");
//write a banner
DoBanner(MissionCopy,m_sMissionCopyName);
//do the copy..
while(!MissionFile.eof())
{
char Tmp[10000];
MissionFile.getline(Tmp,sizeof(Tmp));
string sLine = string(Tmp);
MissionCopy<<sLine.c_str()<<endl;
}
MissionCopy.close();
MissionFile.close();
//now look for hoof files!
CProcessConfigReader HelmReader;
HelmReader.SetFile(m_sMissionFile);
HelmReader.SetAppName("pHelm");
string sHoof;
if(HelmReader.GetConfigurationParam("TaskFile",sHoof))
{
//open a copy file
ofstream HoofCopy;
if(!OpenFile(HoofCopy,m_sHoofCopyName))
return MOOSFail("Failed to copy of mission file");
//open the original
ifstream HoofFile;
HoofFile.open(sHoof.c_str());
if(HoofFile.is_open() && HoofCopy.is_open())
{
//do the copy..
while(!HoofFile.eof())
{
char Tmp[10000];
HoofFile.getline(Tmp,sizeof(Tmp));
string sLine = string(Tmp);
HoofCopy<<sLine.c_str()<<endl;
}
HoofCopy.close();
HoofFile.close();
}
}
return true;
}
bool COdysseyIVActuation::ReadConfig(CProcessConfigReader& Config)
{
Config.GetConfigurationParam("BowSternRatio", m_dfBowSternRatio);
return true;
}