bool CZPatternTask::SetParam(string sParam, string sVal)
{
MOOSToUpper(sParam);
MOOSToUpper(sVal);
if(!CMOOSBehaviour::SetParam(sParam,sVal))
{
if(MOOSStrCmp(sParam,"THRUST"))
{
m_Thrust.SetCurrent(atof(sVal.c_str()),MOOSTime());
}
else if(MOOSStrCmp(sParam,"TOLERANCE"))
{
m_dfTolerance = atof(sVal.c_str());
}
else if(MOOSStrCmp(sParam,"PATTERN"))
{
if(MOOSStrCmp(sVal,"YOYO"))
{
m_ePatternType = MOOS_Z_PATTERN_YOYO;
}
else if(MOOSStrCmp(sVal,"SQUARE"))
{
m_ePatternType = MOOS_Z_PATTERN_SQUARE;
}
}
else if(MOOSStrCmp(sParam,"LEVELTIME"))
{
m_dfLevelDuration = atof(sVal.c_str());
}
else if(MOOSStrCmp(sParam,"MAXDEPTH"))
{
m_dfMaxDepth = atof(sVal.c_str());
}
else if(MOOSStrCmp(sParam,"MINDEPTH"))
{
m_dfMinDepth = atof(sVal.c_str());
}
else
{
//hmmm - it wasn't for us at all: base class didn't understand either
MOOSTrace("Param \"%s\" not understood!\n",sParam.c_str());
return false;
}
}
return true;
}
bool CLimitBox::SetParam(string sParam, string sVal)
{
MOOSToUpper(sParam);
MOOSToUpper(sVal);
if(!CMOOSBehaviour::SetParam(sParam,sVal))
{
//alwasy make it very important
m_nPriority = 0;
//this is for us...
if(MOOSStrCmp(sParam,"XMIN"))
{
m_dfXMin=atof(sVal.c_str());
}
else if(MOOSStrCmp(sParam,"XMAX"))
{
m_dfXMax=atof(sVal.c_str());
}
else if(MOOSStrCmp(sParam,"YMIN"))
{
m_dfYMin=atof(sVal.c_str());
}
else if(MOOSStrCmp(sParam,"YMAX"))
{
m_dfYMax=atof(sVal.c_str());
}
else if(MOOSStrCmp(sParam,"DEPTHMAX"))
{
m_dfDepthMax=atof(sVal.c_str());
}
else if(MOOSStrCmp(sParam,"IGNORETIME"))
{
m_dfIgnoreTime=atof(sVal.c_str());
}
else
{
MOOSTrace("CLimitBox::unknown param %s",sParam.c_str());
return false;
}
}
return true;
}
DBLogEvent(const std::string & event_name,
const std::string & event_client,
const std::string & event_details,
const std::string & event_time):
event_name_(event_name),
event_client_(event_client),
event_details_(event_details),
event_time_(event_time)
{
MOOSToUpper(event_name_);
}
bool CSingleAction::SetParam(string sParam, string sVal)
{
MOOSToUpper(sParam);
if(sParam == "ACTION")
{
m_sVarName = MOOSChomp(sVal,":");
m_sValue = sVal;
return true;
}
return CSGMOOSBehaviour::SetParam(sParam, sVal);
}
bool CMOOSNavTopDownCalEngine::OnRxTopDownControl(string sInstruction)
{
MOOSToUpper(sInstruction);
if(MOOSStrCmp(sInstruction,"STOP"))
{
SetOnline(false);
SetState(OFFLINE);
return true;
}
else if(MOOSStrCmp(sInstruction,"START"))
{
OnStart();
return true;
}
else if(MOOSStrCmp(sInstruction,"CALCULATE"))
{
//ok try and calculate now....
return Calculate(MOOSTime());
}
else if(sInstruction.find("FOCUS")!=string::npos)
{
MOOSChomp(sInstruction,"=");
int nNew = atoi(sInstruction.c_str());
if(nNew!=0)
{
m_nActiveChannel = nNew;
AddToOutput("Manual set of TDC focus to channel %d",nNew);
SetFocus(nNew);
}
}
else
{
AddToOutput("Unknown top down cal control command");
return false;
}
return true;
}
bool CThirdPartyTask::OnNewInstruction(string sInstruction,double dfTimeNow)
{
MOOSToUpper(sInstruction);
MOOSRemoveChars(sInstruction," \t");
if(sInstruction.find("ACTUATION:")!=string::npos)
{
return OnActuationInstruction(sInstruction,dfTimeNow);
}
else if(sInstruction.find("STATUS:")!=string::npos)
{
//eg "STATUS:ENABLE=TRUE"
return OnStatusInstruction(sInstruction,dfTimeNow);
}
else
{
MOOSTrace("Unknown thirdparty command! : %s",sInstruction.c_str());
return false;
}
}
