bool SimGPS::OnStartUp() { list<string> sParams; m_MissionReader.EnableVerbatimQuoting(false); if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) { list<string>::iterator p; for(p=sParams.begin(); p!=sParams.end(); p++) { string original_line = *p; string param = stripBlankEnds(toupper(biteString(*p, '='))); string value = stripBlankEnds(*p); if(param == "GPS_COVARIANCE") { GPS_covariance = read_matrix(value); } if(param == "MAX_DEPTH"){ max_depth = atof(value.c_str()); } if(param == "ADD_NOISE"){ add_noise = (tolower(value) == "true"); } if(param == "BACKGROUND_MODE"){ if (tolower(value) == "true") in_prefix = "NAV"; else in_prefix = "SIM"; } } } distribution = normal_distribution<double>(0.0,sqrt(GPS_covariance(0,0))); RegisterVariables(); return(true); }
bool WallFollowing::OnStartUp() { setlocale(LC_ALL, "C"); list<string> sParams; m_MissionReader.EnableVerbatimQuoting(false); if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) { list<string>::iterator p; for(p = sParams.begin() ; p != sParams.end() ; p++) { string original_line = *p; string param = stripBlankEnds(toupper(biteString(*p, '='))); string value = stripBlankEnds(*p); if(param == "FOO") { //handled } else if(param == "BAR") { //handled } } } m_timewarp = GetMOOSTimeWarp(); RegisterVariables(); return(true); }
bool Camera::OnConnectToServer() { RegisterVariables(); Register("Image", 0.0); return(true); }
bool Camera::OnStartUp() { setlocale(LC_ALL, "C"); int identifiant_camera = -1; list<string> sParams; m_MissionReader.EnableVerbatimQuoting(false); if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) { list<string>::iterator p; for(p = sParams.begin() ; p != sParams.end() ; p++) { string original_line = *p; string param = stripBlankEnds(toupper(biteString(*p, '='))); string value = stripBlankEnds(*p); if(param == "IDENTIFIANT_CV_CAMERA") identifiant_camera = atoi((char*)value.c_str()); if(param == "VARIABLE_IMAGE_NAME") { m_image_name = value; m_display_name = m_image_name; } if(param == "DISPLAY_IMAGE") m_affichage_image = (value == "true"); if(param == "INVERT_IMAGE") m_inverser_image = (value == "true"); } } m_timewarp = GetMOOSTimeWarp(); // SetAppFreq(20, 400); // SetIterateMode(REGULAR_ITERATE_AND_COMMS_DRIVEN_MAIL); if(identifiant_camera == -1) { cout << "Aucun identifiant de caméra reconnu" << endl; return false; } char buff[100]; sprintf(buff, "/dev/video%d", identifiant_camera); string device_name = buff; if(!m_vc_v4l2.open(device_name, LARGEUR_IMAGE_CAMERA, HAUTEUR_IMAGE_CAMERA)) return false; if(m_affichage_image) namedWindow(m_display_name, CV_WINDOW_NORMAL); RegisterVariables(); setlocale(LC_ALL, ""); return(true); }
bool WallFollowing::OnConnectToServer() { // register for variables here // possibly look at the mission file? // m_MissionReader.GetConfigurationParam("Name", <string>); // m_Comms.Register("VARNAME", 0); RegisterVariables(); return(true); }
bool SimGPS::OnConnectToServer() { RegisterVariables(); return(true); }