int main(int argc ,char * argv[])
{
try
{
const char * sMissionFile = "Mission.moos";
const char * sMOOSName = "pTextInterpreterApp";
switch(argc)
{
case 3:
sMOOSName = argv[2];
case 2:
sMissionFile = argv[1];
}
TextInterpreterApp TheApp;
TheApp.Run(sMOOSName,sMissionFile);
return 0;
}
catch (std::exception &e)
{
std::cerr << "**ERROR** " << e.what() << std::endl;
return MOOSFail( "Closing due to an exception" );
}
catch (...)
{
return MOOSFail( "Closing due to an untyped exception." );
}
}
bool OnNewMail(MOOSMSG_LIST & NewMail){
//process it
/**
MOOSMSG_LIST::iterator p;
for(p=NewMail.begin();p!=NewMail.end();p++)
{
//lets get a reference to the Message - no need for pointless copy
CMOOSMsg & rMsg = *p;
// repetitive "ifs" is one way to build a switch yard for
// the messages
p->Trace();
}
**/
//Retrieve informaiton
MOOSMSG_LIST::iterator p1;
for(p1=NewMail.begin();p1!=NewMail.end();p1++)
{
//lets get a reference to the Message - no need for pointless copy
CMOOSMsg & rMsg = *p1;
// repetitive "ifs" is one way to build a switch yard for
// the messages
if(MOOSStrCmp(rMsg.GetKey(),"DESIRED_PORTTHRUSTER"))
{
//this message is about something called "DESIRED_PORTTHRUSTER"
CMOOSMsg &Msg = rMsg;
if(!Msg.IsDouble())
return MOOSFail("Ouch - was promised \"DESIRED_PORTTHRUSTER\" would be a double");
DESIRED_PORTTHRUSTER = Msg.GetDouble();
//MOOSTrace("DESIRED_PORTTHRUSTER is %f\n",DESIRED_PORTTHRUSTER);//the actual heading
//if you want to see all details in Msg, you can print a message by
//Msg.Trace();
}
else if(MOOSStrCmp(rMsg.GetKey(),"DESIRED_STARBOARDTHRUSTER"))
{
//this message is about something called "Input_FR"
CMOOSMsg &Msg1 = rMsg;
if(!Msg1.IsDouble())
return MOOSFail("Ouch - was promised \"DESIRED_STARBOARDTHRUSTER\" would be a double");
DESIRED_STARBOARDTHRUSTER = Msg1.GetDouble();
//MOOSTrace("DESIRED_STARBOARDTHRUSTER is %f\n",DESIRED_STARBOARDTHRUSTER);//the actual heading
//if you want to see all details in Msg, you can print a message by
//Msg.Trace();
}
}
return true;
}
bool Joystick::OnStartUp()
{
AppCastingMOOSApp::OnStartUp();
setlocale(LC_ALL, "C");
STRING_LIST sParams;
m_MissionReader.EnableVerbatimQuoting(false);
if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
reportConfigWarning("No config block found for " + GetAppName());
int inputId = -1;
int inputType = -1;
float ratio = 1.;
float axis_min = -1.;
float axis_max = 1.;
ControlMode inputMode = Value;
STRING_LIST::iterator p;
sParams.reverse();
for(p = sParams.begin() ; p != sParams.end() ; p++)
{
string orig = *p;
string line = *p;
string param = toupper(biteStringX(line, '='));
string value = line;
bool handled = false;
if(param == "DEVICE_NAME")
{
mJoystickControl.mDeviceName = value;
handled = true;
}
else if(param == "MODE")
{
if (tolower(value) == "value")
inputMode = Value;
else if (tolower(value) == "increment")
inputMode = Increment;
else if (tolower(value) == "switch")
inputMode = Switch;
handled = true;
}
else if(param == "MIN")
{
if(!MOOSIsNumeric(value))
reportConfigWarning(orig);
else
axis_min = atof(value.c_str());
handled = true;
}
else if(param == "MAX")
{
if(!MOOSIsNumeric(value))
reportConfigWarning(orig);
else
axis_max = atof(value.c_str());
handled = true;
}
else if(param == "BUTTON")
{
if(!MOOSIsNumeric(value))
reportConfigWarning(orig);
else
{
inputId = atoi(value.c_str());
inputType = JS_EVENT_BUTTON;
}
handled = true;
}
else if(param == "AXIS")
{
if(!MOOSIsNumeric(value))
reportConfigWarning(orig);
else
{
inputId = atoi(value.c_str());
inputType = JS_EVENT_AXIS;
}
handled = true;
}
else if(param == "SCALE")
{
if(!MOOSIsNumeric(value))
reportConfigWarning(orig);
else
{
axis_max = atof(value.c_str());
axis_min = -axis_max;
}
handled = true;
}
else if(param == "SCALE_RATIO")
{
if(!MOOSIsNumeric(value))
reportConfigWarning(orig);
else
ratio = atof(value.c_str());
handled = true;
}
else if(param == "MOOS_DEST_VAR")
{
value = toupper(value);
if(inputId >= 0)
{
mControlsVariables[make_pair(inputType, inputId)] = pair<string, JoystickControlState>(value, JoystickControlState());
double offset = ratio*axis_min;
double gain = (ratio*axis_max - offset);
mJoystickControl.setState(inputType, inputId, inputMode, gain, offset);
handled = true;
}
}
if(!handled)
reportUnhandledConfigWarning(orig);
}
if(!mJoystickControl.OpenPort())
MOOSFail("Cannot open the joystick device '%s'.\n", mJoystickControl.mDeviceName.c_str());
registerVariables();
return(true);
}
bool CMOOSPlayBackV2::MessageFromLine(const std::string & sLine, CMOOSMsg &Msg)
{
int n = 0;
std::string sTime,sKey,sSrc;
m_ALog.GetNextToken(sLine,n,sTime);
m_ALog.GetNextToken(sLine,n,sKey);
m_ALog.GetNextToken(sLine,n,sSrc);
size_t nData = sLine.find_first_not_of(" \t",n);
if(nData==string::npos)
return false;
std::string sData = sLine.substr(nData,sLine.size()-nData);
Msg.m_dfTime = MOOSTime();
if(MOOSIsNumeric(sData))
{
Msg.m_dfVal = atof(sData.c_str());
Msg.m_cDataType = MOOS_DOUBLE;
Msg.m_sVal = "";
}
else
{
Msg.m_dfVal = 0.0;
if(sData.find("<MOOS_BINARY>") !=std::string::npos)
{
//Msg.MarkAsBinary();
long long nOffset;
if(!MOOSValFromString(nOffset,sData,"Offset"))
return MOOSFail("badly formed MOOS_BINARY indicator - missing \"Offset=xyz\"");
std::string sFile;
if(!MOOSValFromString(sFile,sData,"File"))
return MOOSFail("badly formed MOOS_BINARY indicator - missing \"File=XYZ\"");
int nBytes;
if(!MOOSValFromString(nBytes,sData,"Bytes"))
return MOOSFail("badly formed MOOS_BINARY indicator - missing \"Bytes=xyz\"");
//corner case of binary file changing half way through a log....(Why this might happen
//I don't know but catch it anyway....
if(sFile != m_sBinaryFileName && m_BinaryFile.is_open() )
{
m_BinaryFile.close();
}
m_sBinaryFileName = sFile;
if(!m_BinaryFile.is_open())
{
//open the file with the correct name
//here we need to point the file towards the full path - the blog file should be sitting next
//to teh alog being played
/** splits a fully qualified path into parts -path, filestem and extension */
std::string sPath,sFileName,sExtension;
if(!MOOSFileParts(m_ALog.GetFileName(),sPath,sFileName,sExtension))
return MOOSFail("failed to parse alog file into file parts %s",MOOSHERE);
std::string sFullBinaryLogPath = sPath+"/"+m_sBinaryFileName;
MOOSTrace("opening binary file %s\n",sFullBinaryLogPath.c_str());
m_BinaryFile.open(sFullBinaryLogPath.c_str(),std::ios::binary);
if(!m_BinaryFile)
{
return MOOSFail("unable to open binary file called %s", m_sBinaryFileName.c_str());
}
}
//move to the right place in the file
m_BinaryFile.seekg(nOffset);
//make space
char * pBD = new char[nBytes];
//read the right number of bytes
m_BinaryFile.read(pBD,nBytes);
//copy data
Msg.m_sVal.assign(pBD,nBytes);
//delete temporary space
delete [] pBD;
Msg.MarkAsBinary();
}
else
{
Msg.m_dfVal = 0.0;
Msg.m_cDataType = MOOS_STRING;
Msg.m_sVal = sData;
}
}
//fill in standard aspects
Msg.m_sSrc = sSrc;
Msg.m_sKey = sKey;
Msg.m_cMsgType = MOOS_NOTIFY;
return true;
}
