/// READ STRINGS
bool CProcessConfigReader::GetConfigurationParam(std::string sAppName,std::string sParam, std::string &sVal)
{
Reset();
//remember all names we were asked for....
std::string sl = sParam;
MOOSToLower(sl);
m_Audit[sAppName].insert(sl);
STRING_LIST sParams;
if(GetConfigurationAndPreserveSpace( sAppName, sParams))
{
STRING_LIST::iterator p;
for(p = sParams.begin(); p!=sParams.end(); p++)
{
std::string sTmp = *p;
std::string sTok = MOOSChomp(sTmp,"=");
MOOSTrimWhiteSpace(sTok);
if (sTmp.empty())
return false;
if(MOOSStrCmp(sTok,sParam))
{
MOOSTrimWhiteSpace(sTmp);
sVal=sTmp;
return true;
}
}
}
return false;
}
bool CMOOSRemoteLite::MakeCustomSummary()
{
STRING_LIST sParams;
if(m_MissionReader.GetConfiguration(GetAppName(),sParams))
{
STRING_LIST::iterator p;
for(p = sParams.begin();p!=sParams.end();p++)
{
string sLine = *p;
string sTok,sVal;
m_MissionReader.GetTokenValPair(sLine,sTok,sVal);
if(MOOSStrCmp(sTok,"CUSTOMSUMMARY"))
{
m_CustomSummaryList.push_front(sVal);
AddMOOSVariable(sVal,sVal,"",0.2);
}
}
}
RegisterMOOSVariables();
return true;
}
bool CHelmApp::OnPreIterate()
{
TASK_LIST::iterator p;
STRING_LIST NewResources;
STRING_LIST::iterator q;
for(p = m_Tasks.begin();p!=m_Tasks.end();p++)
{
CMOOSBehaviour* pBehaviour = *p;
if(pBehaviour->HasNewRegistration())
{
NewResources.clear();
pBehaviour->GetRegistrations(NewResources);
for(q = NewResources.begin();q!=NewResources.end();q++)
{
if(m_Comms.IsConnected())
{
m_Comms.Register(*q,UPDATE_INTERVAL);
}
}
}
}
return true;
}
bool CMOOSDB::OnProcessSummaryRequested(CMOOSMsg &Msg, MOOSMSG_LIST &MsgTxList)
{
DBVAR_MAP::iterator p;
STRING_LIST::iterator q;
STRING_LIST Clients;
m_pCommServer->GetClientNames(Clients);
for(q=Clients.begin();q!=Clients.end();q++)
{
string sWho = *q;
string sPublished= "PUBLISHED=";
string sSubscribed = "SUBSCRIBED=";
for(p=m_VarMap.begin();p!=m_VarMap.end();p++)
{
CMOOSDBVar & rVar = p->second;
if(rVar.m_Writers.find(sWho)!=rVar.m_Writers.end())
{
if(!sPublished.empty())
{
sPublished+=",";
}
sPublished+=rVar.m_sName;
}
if(rVar.m_Subscribers.find(sWho)!=rVar.m_Subscribers.end())
{
if(!sSubscribed.empty())
{
sSubscribed+=",";
}
sSubscribed+=rVar.m_sName;
}
}
CMOOSMsg MsgReply;
MsgReply.m_nID = Msg.m_nID;
MsgReply.m_cMsgType = MOOS_NOTIFY;
MsgReply.m_cDataType = MOOS_STRING;
MsgReply.m_dfTime = MOOSTime()-m_dfStartTime; //for display
MsgReply.m_sSrc = m_sDBName;
MsgReply.m_sKey = "PROC_SUMMARY";
MsgReply.m_sVal = sWho+":"+sSubscribed+","+sPublished;
MsgReply.m_dfVal = -1;
MsgTxList.push_front(MsgReply);
}
return true;
}
void CMOOSDB::UpdateReadWriteSummaryVar()
{
std::map<std::string,std::list<std::string> > Pub;
std::map<std::string,std::list<std::string> > Sub;
DBVAR_MAP::iterator p;
for(p=m_VarMap.begin();p!=m_VarMap.end();p++)
{
CMOOSDBVar & rVar = p->second;
STRING_SET::iterator w;
REGISTER_INFO_MAP::iterator v;
std::stringstream ss;
for(v = rVar.m_Subscribers.begin();v!=rVar.m_Subscribers.end();v++)
Sub[v->second.m_sClientName].push_back(rVar.m_sName);
for(w = rVar.m_Writers.begin();w!=rVar.m_Writers.end();w++)
Pub[*w].push_back(rVar.m_sName);
}
STRING_LIST Clients;
m_pCommServer->GetClientNames(Clients);
STRING_LIST::iterator q;
std::ostringstream ss;
for(q=Clients.begin();q!=Clients.end();)
{
ss<<*q<<"=";
PrintCollection(Sub[*q],ss,":");
ss<<"&";
PrintCollection(Pub[*q],ss,":");
if(++q!=Clients.end())
ss<<",";
}
CMOOSMsg DBS(MOOS_NOTIFY,"DB_RWSUMMARY",ss.str());
DBS.m_sSrc = m_sDBName;
DBS.m_sOriginatingCommunity = m_sCommunityName;
OnNotify(DBS);
}
bool SonarFilter::OnStartUp()
{
AppCastingMOOSApp::OnStartUp();
STRING_LIST sParams;
m_MissionReader.EnableVerbatimQuoting(false);
if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
reportConfigWarning("No config block found for " + GetAppName());
STRING_LIST::iterator p;
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 == "FILTERLEN") {
m_filter_len = atoi(value.c_str());
handled = true;
}
else if(param == "STDEVLIMIT") {
m_std_limit = atof(value.c_str());
handled = true;
} else if (param == "SIMSWATHANGLE") {
// Convert the angle to radians
m_sim_swath_angle = atof(value.c_str()) * M_PI / 180;
handled = true;
} else if (param == "SONARTYPE") {
}
if(!handled)
reportUnhandledConfigWarning(orig);
}
AddMOOSVariable("X", "NAV_X", "", 0);
AddMOOSVariable("Y", "NAV_Y", "", 0);
AddMOOSVariable("Heading", "NAV_HEADING", "", 0);
AddMOOSVariable("Depth", "SONAR_DEPTH_M", "", 0);
AddMOOSVariable("Depth_Stbd", "SONAR_DEPTH_STBD_M", "", 0);
AddMOOSVariable("Depth_Port", "SONAR_DEPTH_PORT_M", "", 0);
AddMOOSVariable("SonarWidth", "SONAR_WIDTH", "", 0);
AddMOOSVariable("Swath", "", "SWATH_WIDTH", 0);
m_nadir_filter = StDevFilter(m_filter_len, m_std_limit, 1/GetAppFreq());
m_port_filter = StDevFilter(m_filter_len, m_std_limit, 1/GetAppFreq());
m_stbd_filter = StDevFilter(m_filter_len, m_std_limit, 1/GetAppFreq());
registerVariables();
return(true);
}
bool CMOOSNavEngine::SetUpSensorChannels(STRING_LIST sParams,string sToken)
{
//ok we need to load up rejection settings
STRING_LIST::iterator p;
for(p = sParams.begin();p!=sParams.end();p++)
{
string sLine = *p;
if(sLine.find(sToken)!=string::npos)
{
MOOSRemoveChars(sLine," \t");
MOOSChomp(sLine,"=");
//LSQ_REJECTION = TheAvtrak : Reject = 3, History = 5,Fail = 0.001
CMOOSSensorChannel NewChannel;
string sSensor = MOOSChomp(sLine,":");
string sHistory = MOOSChomp(sLine,",");
string sFail = MOOSChomp(sLine,",");
MOOSChomp(sHistory,"=");
MOOSChomp(sFail,"=");
if(sFail.empty() ||sHistory.empty())
{
MOOSTrace("error in %s line!\n",sToken.c_str());
return false;
}
int nDepth = atoi(sHistory.c_str());
if(nDepth>0)
{
NewChannel.SetHistoryDepth(nDepth);
}
double dfFail = atof(sFail.c_str());
if(dfFail>0)
{
NewChannel.SetNoiseLimit(dfFail);
}
NewChannel.SetName(sSensor);
m_SensorChannelMap[sSensor]=NewChannel;
}
}
return true;
}
bool CMOOSRemoteLite::MakeCustomKeys()
{
STRING_LIST sParams;
if(m_MissionReader.GetConfiguration(GetAppName(),sParams))
{
STRING_LIST::iterator p;
for(p = sParams.begin();p!=sParams.end();p++)
{
string sLine = *p;
string sTok,sVal;
m_MissionReader.GetTokenValPair(sLine,sTok,sVal);
if(MOOSStrCmp(sTok,"CUSTOMKEY"))
{
MOOSRemoveChars(sVal," ");
string sChar = MOOSChomp(sVal,":");
string sKey = MOOSChomp(sVal,"@");
MOOSRemoveChars(sVal,"\"");
string sTx = MOOSChomp(sVal,"$");
bool bIsNumeric = MOOSIsNumeric(sTx);
bool bAskToConfirm = (sVal == "confirm");
if(!sChar.empty())
{
CCustomKey NewKey;
NewKey.m_cChar = sChar[0];
NewKey.m_sKey = sKey;
NewKey.m_sVal = sTx;
NewKey.bIsNumeric = bIsNumeric;
NewKey.bAskToConfirm = bAskToConfirm;
if(isdigit(NewKey.m_cChar))
{
m_CustomKeys[NewKey.m_cChar] = NewKey;
}
else
{
MOOSTrace("CMOOSRemote: can only bind custom keys to numeric characters!\n");
}
}
}
}
}
return true;
}
bool DeadManPost::OnStartUp()
{
AppCastingMOOSApp::OnStartUp();
STRING_LIST sParams;
m_MissionReader.EnableVerbatimQuoting(false);
if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
reportConfigWarning("No config block found for " + GetAppName());
STRING_LIST::iterator p;
for(p=sParams.begin(); p!=sParams.end(); p++) {
string orig = *p;
string line = *p;
string param = tolower(biteStringX(line, '='));
string value = line;
bool handled = false;
if(param == "heartbeat_var") {
if(!strContainsWhite(value)) {
m_heart_var = value;
handled = true;
}
}
else if(param == "deadflag") {
string varname = biteStringX(value, '=');
string varval = value;
if(!strContainsWhite(varname) && (varval != "")) {
VarDataPair pair(varname, varval, "auto");
m_deadflags.push_back(pair);
handled = true;
}
}
else if(param == "post_policy") {
string val = tolower(value);
if((val=="once") || (val=="repeat") || (val=="reset")) {
m_post_policy = val;
handled = true;
}
}
else if((param == "max_noheart") && isNumber(value)) {
m_max_noheart = atof(value.c_str());
handled = true;
}
else if(param == "active_at_start")
handled = setBooleanOnString(m_active_at_start, value);
if(!handled)
reportUnhandledConfigWarning(orig);
}
registerVariables();
return(true);
}
bool HazardMgr::OnStartUp()
{
AppCastingMOOSApp::OnStartUp();
STRING_LIST sParams;
m_MissionReader.EnableVerbatimQuoting(true);
if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
reportConfigWarning("No config block found for " + GetAppName());
STRING_LIST::iterator p;
for(p=sParams.begin(); p!=sParams.end(); p++) {
string orig = *p;
string line = *p;
string param = tolower(biteStringX(line, '='));
string value = line;
bool handled = false;
if((param == "swath_width") && isNumber(value)) {
m_swath_width_desired = atof(value.c_str());
handled = true;
}
else if(((param == "sensor_pd") || (param == "pd")) && isNumber(value)) {
m_pd_desired = atof(value.c_str());
handled = true;
}
else if(param == "report_name") {
value = stripQuotes(value);
m_report_name = value;
handled = true;
}
else if(param == "region") {
XYPolygon poly = string2Poly(value);
if(poly.is_convex())
m_search_region = poly;
handled = true;
}
if(!handled)
reportUnhandledConfigWarning(orig);
}
m_hazard_set.setSource(m_host_community);
m_hazard_set.setName(m_report_name);
m_hazard_set.setRegion(m_search_region);
m_voted_hazard_set.setSource(m_host_community);
m_voted_hazard_set.setName(m_report_name);
m_voted_hazard_set.setRegion(m_search_region);
registerVariables();
return(true);
}
void CMOOSDB::UpdateDBClientsVar()
{
STRING_LIST Clients;
m_pCommServer->GetClientNames(Clients);
std::ostringstream ss;
std::copy(Clients.begin(),Clients.end(),ostream_iterator<std::string>(ss,","));
CMOOSMsg DBC(MOOS_NOTIFY,"DB_CLIENTS",ss.str());
DBC.m_sOriginatingCommunity = m_sCommunityName;
DBC.m_sSrc = m_sDBName;
OnNotify(DBC);
}
bool GPS::OnStartUp() {
AppCastingMOOSApp::OnStartUp();
STRING_LIST sParams;
m_MissionReader.EnableVerbatimQuoting(false);
if (!m_MissionReader.GetConfiguration(GetAppName(), sParams))
reportConfigWarning("No config block found for " + GetAppName());
STRING_LIST::iterator p;
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 == "SERIAL_PORT") {
m_uart_port = value.c_str();
handled = true;
}
if (param == "UART_BAUD_RATE") {
m_uart_baud_rate = atoi(value.c_str());
handled = true;
}
if (!handled)
reportUnhandledConfigWarning(orig);
}
registerVariables();
// Init GPS connection
m_error = m_serial.open(m_uart_port,m_error);
if (m_error.value() != 0.0)
{
// No error from asio read
reportConfigWarning("Serial open error");
}
else
m_serial.set_option(boost::asio::serial_port_base::baud_rate(m_uart_baud_rate));
//serial.set_option(boost::asio::serial_port_base::character_size());
//serial.set_option(boost::asio::serial_port_base::flow_control());
//serial.set_option(boost::asio::serial_port_base::parity());
//serial.set_option(boost::asio::serial_port_base::stop_bits());
if(!m_serial.is_open()){
reportConfigWarning("Serial port not open");
}
return (true);
}
bool CMOOSRemoteLite::DoCustomJournal(char cCmd)
{
CUSTOMJOURNAL_MAP::iterator p;
for(p = m_CustomJournals.begin();p!=m_CustomJournals.end();p++)
{
if(p->second.m_cKey==cCmd)
{
MOOSTrace("\nJournal Entries for \"%s\" :\n ",p->first.c_str());
STRING_LIST Cpy = p->second.m_Entries;
std::copy(Cpy.begin(),Cpy.end(),std::ostream_iterator<std::string>(std::cout,"\n "));
return true;
}
}
return false;
}
Triggerconf::ATTRIBUTE_MAP Triggerconf::getConfigItemAttributes (string module, string submodule, string configitem)
{
ATTRIBUTE_MAP ret;
STRING_LIST names = getConfigAttributeNames (module, submodule, configitem);
STRING_LIST_ITERATOR begin = names.begin();
STRING_LIST_ITERATOR end = names.end();
for ( ; begin != end; begin++) {
string value = getConfigAttributeValue (module, submodule, configitem, *begin);
ret.insert (ATTRIBUTE_PAIR (*begin, value));
} // for ( ; begin != end; begin++)
return ret;
}
string Triggerconf::untokenize (STRING_LIST path)
{
STRING_LIST::iterator begin = path.begin();
STRING_LIST::iterator end = path.end();
string ret;
for ( ; begin != end; begin++) {
if (ret.length () == 0)
ret += *begin;
else
ret += (PATH_DELIMITER + *begin);
}
return ret;
}
bool Gps::OnStartUp() {
AppCastingMOOSApp::OnStartUp();
STRING_LIST sParams;
m_MissionReader.EnableVerbatimQuoting(false);
if (!m_MissionReader.GetValue("GPS_SERIAL_PORT",m_uart_port))
reportConfigWarning("No GPS_SERIAL_PORT config found for " + GetAppName() + "(previously iGps)");
if (!m_MissionReader.GetConfiguration(GetAppName(), sParams))
reportConfigWarning("No config block found for " + GetAppName());
STRING_LIST::iterator p;
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 == "UART_BAUD_RATE") {
m_uart_baud_rate = atoi(value.c_str());
handled = true;
}
if (!handled)
reportUnhandledConfigWarning(orig);
}
registerVariables();
// Init GPS connection
// if(serial.is_open()){
// serial.close();
// }
m_serial.open(m_uart_port);
m_serial.set_option(boost::asio::serial_port_base::baud_rate(m_uart_baud_rate));
//serial.set_option(boost::asio::serial_port_base::character_size());
//serial.set_option(boost::asio::serial_port_base::flow_control());
//serial.set_option(boost::asio::serial_port_base::parity());
//serial.set_option(boost::asio::serial_port_base::stop_bits());
return (true);
}
bool SensorViewer::OnStartUp() {
AppCastingMOOSApp::OnStartUp();
STRING_LIST sParams;
m_MissionReader.EnableVerbatimQuoting(false);
STRING_LIST::iterator p;
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 == "SONAR_CONTRAST") {
m_sonar_contrast = atof(value.c_str());
handled = true;
}
else if (param == "SONAR_CONTRAST_MINIKING") {
m_sonar_contrast_miniking = atof(value.c_str());
handled = true;
}
else if (param == "SONAR_CONTRAST_MICRON") {
m_sonar_contrast_micron = atof(value.c_str());
handled = true;
}
if (!handled)
reportUnhandledConfigWarning(orig);
}
registerVariables();
namedWindow("CAMERA SIDE", WINDOW_NORMAL);
namedWindow("CAMERA BOTTOM", WINDOW_NORMAL);
// namedWindow("SONAR MINIKING", WINDOW_NORMAL);
namedWindow("SONAR MICRON", WINDOW_NORMAL);
//namedWindow("SONAR", WINDOW_NORMAL);
namedWindow("WALL MICRON", WINDOW_NORMAL);
// namedWindow("WALL MINIKING", WINDOW_NORMAL);
return(true);
}
bool LoadWatch::OnStartUp()
{
string directives = "must_have_moosblock=false";
AppCastingMOOSApp::OnStartUpDirectives(directives);
STRING_LIST sParams;
m_MissionReader.EnableVerbatimQuoting(false);
if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
return(true);
STRING_LIST::iterator p;
for(p=sParams.begin(); p!=sParams.end(); p++) {
string orig = *p;
string line = *p;
string param = tolower(biteStringX(line, '='));
string value = line;
bool handled = false;
// THRESH = app=pHelmIvP, gapthresh=1.5
// BREACH_TRIGGER = 1
if(param == "thresh") {
handled = handleConfigThresh(value);
}
else if((param == "breach_trigger") && isNumber(value)) {
double dval = atof(value.c_str());
if(dval < 0)
dval = 0;
m_breach_trigger = (unsigned int)(dval);
handled = true;
}
if(!handled)
reportUnhandledConfigWarning(orig);
}
registerVariables();
return(true);
}
BOOL Language::GetAllValueMap(VALUE_MAP &valueMap) const
{
STRING_LIST nameList;
if(GetSectionNames(nameList))
{
for(STRING_LIST::iterator ite=nameList.begin();ite!=nameList.end();ite++)
{
CString strSection = *ite;
VALUE_MAP tmpMap;
if(GetSectionValueMap(strSection, tmpMap))
{
VALUE_MAP::iterator itor_b = tmpMap.begin();
VALUE_MAP::iterator itor_e = tmpMap.end();
for (; itor_b != itor_e; itor_b++)
{
(void)valueMap.insert(std::make_pair(itor_b->first, itor_b->second));
}
}
}
}
return TRUE;
}
bool CHelmApp::CTransaction::HasPermissions(string sRequest)
{
MOOSToUpper(sRequest);
STRING_LIST AllowableTasks = m_PermissionsMap[m_sTransactingClient];
STRING_LIST::iterator q;
for(q = AllowableTasks.begin(); q != AllowableTasks.end(); q++)
{
//now see if the sRequest the m_sTransactingClient
//wants to accomplish is within its list of permissable
//tasks to spawn
string sAllowedTask = *q;
if(MOOSStrCmp(sRequest,sAllowedTask))
{
return true;
}
}
//the requesting client's task is not allowed to be launched by them
return false;
}
bool NodeBroker::OnStartUp()
{
AppCastingMOOSApp::OnStartUp();
// host_community info grabbed and stored at AppCastingMOOSApp level
m_node_host_record.setCommunity(m_host_community);
STRING_LIST sParams;
if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
reportConfigWarning("No config block found for " + GetAppName());
STRING_LIST::iterator p;
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 == "TRY_SHORE_HOST")
handled = handleConfigTryShoreHost(value);
else if(param == "BRIDGE")
handled = handleConfigBridge(value);
if(!handled)
reportUnhandledConfigWarning(orig);
}
//Temporary fix for command messages
//m_Comms.Advertise("PSHARE_CMD");
registerVariables();
registerPingBridges();
return(true);
}
bool Rad2Degree::OnStartUp()
{
AppCastingMOOSApp::OnStartUp();
STRING_LIST sParams;
m_MissionReader.EnableVerbatimQuoting(false);
if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
reportConfigWarning("No config block found for " + GetAppName());
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 == "FOO")
{
handled = true;
}
else if(param == "BAR")
{
handled = true;
}
if(!handled)
reportUnhandledConfigWarning(orig);
}
registerVariables();
return true;
}
void CMOOSDB::UpdateDBClientsVar()
{
#define CLIENT_LIST_PUBLISH_PERIOD 2
static double dfLastTime = MOOSTime();
double dfNow = MOOSTime();
if(dfNow-dfLastTime>CLIENT_LIST_PUBLISH_PERIOD)
{
STRING_LIST Clients;
m_CommServer.GetClientNames(Clients);
std::ostringstream ss;
std::copy(Clients.begin(),Clients.end(),ostream_iterator<std::string>(ss,","));
CMOOSMsg DBC(MOOS_NOTIFY,"DB_CLIENTS",ss.str());
DBC.m_sOriginatingCommunity = m_sCommunityName;
DBC.m_sSrc = m_sDBName;
OnNotify(DBC);
dfLastTime = dfNow;
}
}
bool USM_MOOSApp::OnStartUp()
{
AppCastingMOOSApp::OnStartUp();
m_model.resetTime(m_curr_time);
STRING_LIST sParams;
if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
reportConfigWarning("No config block found for " + GetAppName());
STRING_LIST::iterator p;
for(p = sParams.begin();p!=sParams.end();p++) {
string orig = *p;
string line = *p;
string param = toupper(biteStringX(line, '='));
string value = line;
double dval = atof(value.c_str());
// Handle and warn of deprecated configuration parameters.
param = handleConfigDeprecations(param);
bool handled = false;
if((param == "START_X") && isNumber(value))
handled = m_model.setParam(param, dval);
else if((param == "START_Y") && isNumber(value))
handled = m_model.setParam(param, dval);
else if((param == "START_HEADING") && isNumber(value))
handled = m_model.setParam(param, dval);
else if((param == "START_SPEED") && isNumber(value))
handled = m_model.setParam(param, dval);
else if((param == "START_DEPTH") && isNumber(value))
handled = m_model.setParam(param, dval);
else if((param == "BUOYANCY_RATE") && isNumber(value))
handled = m_model.setParam(param, dval);
else if((param == "DRIFT_X") && isNumber(value))
handled = m_model.setParam("drift_x", dval);
else if((param == "DRIFT_Y") && isNumber(value))
handled = m_model.setParam("drift_y", dval);
else if((param == "ROTATE_SPEED") && isNumber(value))
handled = m_model.setParam("rotate_speed", dval);
else if((param == "MAX_ACCELERATION") && isNumber(value))
handled = m_model.setParam("max_acceleration", dval);
else if((param == "MAX_DECELERATION") && isNumber(value))
handled = m_model.setParam("max_deceleration", dval);
else if((param == "MAX_DEPTH_RATE") && isNumber(value))
handled = m_model.setParam("max_depth_rate", dval);
else if((param == "MAX_DEPTH_RATE_SPEED") && isNumber(value))
handled = m_model.setParam("max_depth_rate_speed", dval);
else if((param == "MAX_RUDDER_DEGS_PER_SEC") && isNumber(value))
handled = m_model.setMaxRudderDegreesPerSec(dval);
else if((param == "PREFIX") && !strContainsWhite(value)) {
m_sim_prefix = value;
handled = true;
}
else if(param == "DRIFT_VECTOR")
handled = m_model.setDriftVector(value);
else if((param == "SIM_PAUSE") && isBoolean(value)) {
m_model.setPaused(tolower(value) == "true");
handled = true;
}
else if((param == "DUAL_STATE") && isBoolean(value)) {
m_model.setDualState(tolower(value) == "true");
handled = true;
}
else if(param == "START_POS")
handled = m_model.initPosition(value);
else if((param == "THRUST_REFLECT") && isBoolean(value)) {
m_model.setThrustReflect(tolower(value)=="true");
handled = true;
}
else if((param == "THRUST_FACTOR") && isNumber(value))
m_model.setThrustFactor(dval);
else if(param == "THRUST_MAP")
handled = handleThrustMapping(value);
else if((param == "TURN_RATE") && isNumber(value))
handled = m_model.setParam("turn_rate", dval);
else if((param == "DEFAULT_WATER_DEPTH") && isNumber(value))
handled = m_model.setParam("water_depth", dval);
else if((param == "TRIM_TOLERANCE") && isNumber(value)) {
pitch_tolerance = dval;
handled = true;
}
else if((param == "MAX_TRIM_DELAY") && isNumber(value)) {
max_trim_delay = dval;
handled = true;
}
if(!handled)
reportUnhandledConfigWarning(orig);
}
// look for latitude, longitude global variables
double latOrigin, longOrigin;
if(!m_MissionReader.GetValue("LatOrigin", latOrigin)) {
MOOSTrace("uSimMarine: LatOrigin not set in *.moos file.\n");
m_geo_ok = false;
}
else if(!m_MissionReader.GetValue("LongOrigin", longOrigin)) {
MOOSTrace("uSimMarine: LongOrigin not set in *.moos file\n");
m_geo_ok = false;
}
else {
m_geo_ok = true;
// initialize m_geodesy
if(!m_geodesy.Initialise(latOrigin, longOrigin)) {
MOOSTrace("uSimMarine: Geodesy init failed.\n");
m_geo_ok = false;
}
}
cacheStartingInfo();
registerVariables();
MOOSTrace("uSimMarine started \n");
return(true);
}
bool MoveEvent::configureEvent(xmlNodePtr p)
{
std::string str;
int intValue;
if(readXMLString(p, "event", str)){
if(asLowerCaseString(str) == "stepin"){
m_eventType = MOVE_EVENT_STEP_IN;
}
else if(asLowerCaseString(str) == "stepout"){
m_eventType = MOVE_EVENT_STEP_OUT;
}
else if(asLowerCaseString(str) == "equip"){
m_eventType = MOVE_EVENT_EQUIP;
}
else if(asLowerCaseString(str) == "deequip"){
m_eventType = MOVE_EVENT_DEEQUIP;
}
else if(asLowerCaseString(str) == "additem"){
m_eventType = MOVE_EVENT_ADD_ITEM;
}
else if(asLowerCaseString(str) == "removeitem"){
m_eventType = MOVE_EVENT_REMOVE_ITEM;
}
else{
std::cout << "Error: [MoveEvent::configureMoveEvent] No valid event name " << str << std::endl;
return false;
}
if(m_eventType == MOVE_EVENT_EQUIP || m_eventType == MOVE_EVENT_DEEQUIP){
if(readXMLString(p, "slot", str)){
if(asLowerCaseString(str) == "head"){
slot = SLOT_HEAD;
}
else if(asLowerCaseString(str) == "necklace"){
slot = SLOT_NECKLACE;
}
else if(asLowerCaseString(str) == "backpack"){
slot = SLOT_BACKPACK;
}
else if(asLowerCaseString(str) == "armor"){
slot = SLOT_ARMOR;
}
else if(asLowerCaseString(str) == "right-hand"){
slot = SLOT_RIGHT;
}
else if(asLowerCaseString(str) == "left-hand"){
slot = SLOT_LEFT;
}
else if(asLowerCaseString(str) == "legs"){
slot = SLOT_LEGS;
}
else if(asLowerCaseString(str) == "feet"){
slot = SLOT_FEET;
}
else if(asLowerCaseString(str) == "ring"){
slot = SLOT_RING;
}
else if(asLowerCaseString(str) == "ammo"){
slot = SLOT_AMMO;
}
else{
std::cout << "Warning: [MoveEvent::configureMoveEvent] " << "Unknown slot type " << str << std::endl;
}
}
wieldInfo = 0;
if(readXMLInteger(p, "lvl", intValue) || readXMLInteger(p, "level", intValue)){
reqLevel = intValue;
if(reqLevel > 0){
wieldInfo |= WIELDINFO_LEVEL;
}
}
if(readXMLInteger(p, "maglv", intValue) || readXMLInteger(p, "maglevel", intValue)){
reqMagLevel = intValue;
if(reqMagLevel > 0){
wieldInfo |= WIELDINFO_MAGLV;
}
}
if(readXMLInteger(p, "prem", intValue) || readXMLInteger(p, "premium", intValue)){
premium = (intValue != 0);
if(premium){
wieldInfo |= WIELDINFO_PREMIUM;
}
}
//Gather vocation information
typedef std::list<std::string> STRING_LIST;
STRING_LIST vocStringList;
xmlNodePtr vocationNode = p->children;
while(vocationNode){
if(xmlStrcmp(vocationNode->name,(const xmlChar*)"vocation") == 0){
if(readXMLString(vocationNode, "name", str)){
int32_t vocationId = g_vocations.getVocationId(str);
if(vocationId != -1){
vocEquipMap[vocationId] = true;
intValue = 1;
readXMLInteger(vocationNode, "showInDescription", intValue);
if(intValue != 0){
toLowerCaseString(str);
vocStringList.push_back(str);
}
}
}
}
vocationNode = vocationNode->next;
}
if(!vocStringList.empty()){
for(STRING_LIST::iterator it = vocStringList.begin(); it != vocStringList.end(); ++it){
if(*it != vocStringList.front()){
if(*it != vocStringList.back()){
vocationString += ", ";
}
else{
vocationString += " and ";
}
}
vocationString += *it;
vocationString += "s";
}
wieldInfo |= WIELDINFO_VOCREQ;
}
}
}
else{
std::cout << "Error: [MoveEvent::configureMoveEvent] No event found." << std::endl;
return false;
}
return true;
}
bool OpiDetection::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());
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 == "VARIABLE_IMAGE_NAME")
{
image_name = value;
handled = true;
}
else if(param == "VARIABLE_WHEN_FOUND")
{
message_name = value;
handled = true;
}
else if(param == "SHOW_PROCESS")
{
show_process = (value == "true");
handled = true;
}
else if(param == "IMAGE_NAME_PATTERN")
{
image_name_pattern = "/" + value;
handled = true;
}
else if(param == "FOLDER_NAME_PATTERN")
{
folder_name_pattern = "/" + value;
handled = true;
}
else if(param == "SAVE_IN_FOLDER")
{
path_save = value;
handled = true;
}
if(!handled)
reportUnhandledConfigWarning(orig);
}
char folder_name[80];
time_t now = time(0);
struct tm tstruct;
tstruct = *localtime(&now);
// Visit http://en.cppreference.com/w/cpp/chrono/c/strftime
// for more information about date/time format
strftime(folder_name, sizeof(folder_name), folder_name_pattern.c_str(), &tstruct);
path_save += folder_name;
mkdir(path_save.c_str(),S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);
registerVariables();
return true;
}
bool MarinePID::OnStartUp()
{
cout << "pMarinePID starting...." << endl;
m_start_time = MOOSTime();
STRING_LIST sParams;
m_MissionReader.GetConfiguration(GetAppName(), sParams);
STRING_LIST::iterator p;
for(p=sParams.begin(); p!=sParams.end(); p++) {
string sLine = *p;
string param = toupper(biteStringX(sLine, '='));
string value = sLine;
double dval = atof(value.c_str());
if(param == "DRAG_MAP")
m_drag_map.setPoints(value);
else if(param == "HEADING_LIMIT")
m_heading_limit = dval;
else if(param == "SPD_PID_ACTIVE") {
if(sLine == "true")
m_spdPID_active = true;
else
m_spdPID_active = false;
}
else if(param == "TARDY_HELM_THRESHOLD")
m_tardy_helm_thresh = vclip_min(dval, 0);
else if(param == "TARDY_NAV_THRESHOLD")
m_tardy_nav_thresh = vclip_min(dval, 0);
else if(param == "ACTIVE_START")
setBooleanOnString(m_has_control, value);
else if(param == "VERBOSE") {
if((sLine == "true") || (sLine == "verbose"))
m_verbose = "verbose";
if(sLine == "terse")
m_verbose = "terse";
if(sLine == "quiet")
m_verbose = "quiet";
}
}
bool ok_yaw = handleYawSettings();
bool ok_spd = handleSpeedSettings();
bool ok_dep = handleDepthSettings();
if(!ok_yaw || !ok_spd || !ok_dep) {
cout << "Improper PID Settings" << endl;
return(false);
}
if(m_depth_control)
cout << "Depth Control is ON" << endl;
else
cout << "Depth Control is OFF" << endl;
registerVariables();
return(true);
}
bool XSensINS::OnStartUp() {
AppCastingMOOSApp::OnStartUp();
// XSens Configuration Array
XsOutputConfigurationArray configArray;
// MOOS parser
STRING_LIST sParams;
m_MissionReader.EnableVerbatimQuoting(false);
if (!m_MissionReader.GetConfiguration(GetAppName(), sParams))
reportConfigWarning("No config block found for " + GetAppName());
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 == "UART_BAUD_RATE") {
m_uart_baud_rate = atoi(value.c_str());
handled = true;
}
else if (param == "SERIAL_PORT") {
m_uart_port = value;
handled = true;
}
else if (param == "XDI_EULERANGLES"){
XsOutputConfiguration config(XDI_EulerAngles, atoi(value.c_str()));
configArray.push_back(config);
handled = true;
}
else if (param == "XDI_ACCELERATION"){
XsOutputConfiguration config(XDI_Acceleration, atoi(value.c_str()));
configArray.push_back(config);
handled = true;
}
else if (param == "XDI_RATEOFTURN"){
XsOutputConfiguration config(XDI_RateOfTurn, atoi(value.c_str()));
configArray.push_back(config);
handled = true;
}
else if (param == "XDI_MAGNETICFIELD"){
XsOutputConfiguration config(XDI_MagneticField, atoi(value.c_str()));
configArray.push_back(config);
handled = true;
}
else if (param == "XDI_LATLON"){
XsOutputConfiguration config(XDI_LatLon, atoi(value.c_str()));
configArray.push_back(config);
handled = true;
}
else if (param == "XDI_VELOCITYXYZ"){
XsOutputConfiguration config(XDI_VelocityXYZ, atoi(value.c_str()));
configArray.push_back(config);
handled = true;
}
if(!handled)
reportUnhandledConfigWarning(orig);
}
registerVariables();
//------ OPEN INS ---------------//
XsPortInfo mtPort(m_uart_port, XsBaud::numericToRate(m_uart_baud_rate));
if (!m_device.openPort(mtPort)) {
cout << "CANNOT OPEN THE PORT : " << m_uart_port << '\n';
reportRunWarning("Could not open the COM port" + m_uart_port);
}
//------ CONFIGURE INS ---------------//
// Put the device into configuration mode before configuring the device
if (!m_device.gotoConfig()) {
reportRunWarning("Could not begin the config mode");
}
// Save INS Config
if (!m_device.setOutputConfiguration(configArray)) {
reportRunWarning("Could not save config");
}
//------ START INS ---------------//
if (!m_device.gotoMeasurement()) {
reportRunWarning("Could not start the INS");
}
return true;
}
bool CMOOSLogger::ConfigureLogging()
{
//figure out what we are required to log....
//here we read in what we want to log from the mission file..
STRING_LIST Params;
bool bHasMissionFile = true;
if(m_MissionReader.GetConfiguration(m_sAppName,Params))
{
//this will make columns in sync log in order they
//were declared in *.moos file
Params.reverse();
STRING_LIST::iterator p;
for(p=Params.begin();p!=Params.end();p++)
{
string sParam = *p;
string sWhat = MOOSChomp(sParam,"=");
if(MOOSStrCmp(sWhat,"LOG"))
{
std::string sNewVar;
HandleLogRequest(sParam,sNewVar);
}
}
}
else
{
bHasMissionFile = false;
MOOSTrace("Warning:\n\tNo Configuration block was read - unusual but not terminal\n");
}
//are we allowing dynamic logging of variables is via PLOGGER_CMD message?
int nNumDynamicVariables = m_MissionReader.IsOpen() ? 0 : 10;
//this won't touch nNumDynamicVariables if mission file isn't open.
m_MissionReader.GetConfigurationParam("DynamicSyncLogColumns",nNumDynamicVariables);
if(nNumDynamicVariables>0)
{
MOOSTrace("Comment:\n\tReserving space for %d dynamic variables in slog\n",nNumDynamicVariables);
for(int i = 0; i<nNumDynamicVariables;i++)
{
m_UnusedDynamicVariables.push_back(MOOSFormat("DYNAMIC_%d",i));
}
}
//and generally turn on command message filtering at the CMOOSApp level
EnableCommandMessageFiltering(true);
//do we want wildcard logging - ie have the logger log every change...
m_bWildCardLogging = false;
if(bHasMissionFile)
{
m_MissionReader.GetConfigurationParam("WildcardLogging",m_bWildCardLogging);
}
else
{
m_bWildCardLogging = true;
}
//what sort of things do we want to wild card log
if(m_bWildCardLogging )
{
//we never want to log mission files sent between communities - this is done elsewhere
m_sWildCardOmitted.push_back("MISSION_FILE");
//there was a request to allow multiple statements of the these patterns...hence the
//more complicated parsing here
STRING_LIST sList;
if(m_MissionReader.GetConfiguration(GetAppName(), sList))
{
STRING_LIST::iterator q;
for(q = sList.begin();q!=sList.end();q++)
{
//are we being told exactly what accept and what not to accept
std::string sTok,sVal;
if(!CMOOSFileReader::GetTokenValPair(*q, sTok,sVal))
continue;
if(MOOSStrCmp("WildCardPattern",sTok))
{
while(!sVal.empty())
{
m_sWildCardAccepted.push_back(MOOSChomp(sVal,","));
}
}
else if(MOOSStrCmp("WildCardOmitPattern",sTok))
{
while(!sVal.empty())
{
m_sWildCardOmitted.push_back(MOOSChomp(sVal));
}
}
}
}
m_bAsynchronousLog = true;
}
//ok so now lets register our interest in all these MOOS vars!
if(!RegisterMOOSVariables())
MOOSDebugWrite("Variable subscription is still pending - not terminal, but unusual");
return true;
}
bool Weapon::configureEvent(xmlNodePtr p)
{
int32_t intValue;
std::string strValue;
if (readXMLInteger(p, "id", intValue)) {
id = intValue;
} else {
std::cout << "Error: [Weapon::configureEvent] Weapon without id." << std::endl;
return false;
}
if (readXMLInteger(p, "lvl", intValue) || readXMLInteger(p, "level", intValue)) {
level = intValue;
}
if (readXMLInteger(p, "maglv", intValue) || readXMLInteger(p, "maglevel", intValue)) {
magLevel = intValue;
}
if (readXMLInteger(p, "mana", intValue)) {
mana = intValue;
}
if (readXMLInteger(p, "manapercent", intValue)) {
manaPercent = intValue;
}
if (readXMLInteger(p, "soul", intValue)) {
soul = intValue;
}
if (readXMLInteger(p, "exhaustion", intValue)) {
exhaustion = intValue;
}
if (readXMLInteger(p, "prem", intValue)) {
premium = (intValue == 1);
}
if (readXMLInteger(p, "enabled", intValue)) {
enabled = (intValue == 1);
}
if (readXMLInteger(p, "unproperly", intValue)) {
wieldUnproperly = (intValue == 1);
}
if (readXMLString(p, "ammo", strValue)) {
std::cout << "Warning: ammo is not longer used in weapons.xml." << std::endl;
}
typedef std::list<std::string> STRING_LIST;
STRING_LIST vocStringList;
xmlNodePtr vocationNode = p->children;
while (vocationNode) {
if (xmlStrcmp(vocationNode->name, (const xmlChar*)"vocation") == 0) {
if (readXMLString(vocationNode, "name", strValue)) {
int32_t vocationId = g_vocations.getVocationId(strValue);
if (vocationId != -1) {
vocWeaponMap[vocationId] = true;
int32_t promotedVocation = g_vocations.getPromotedVocation(vocationId);
if (promotedVocation != 0) {
vocWeaponMap[promotedVocation] = true;
}
readXMLInteger(vocationNode, "showInDescription", intValue);
if (intValue != 0) {
toLowerCaseString(strValue);
vocStringList.push_back(strValue);
}
}
}
}
vocationNode = vocationNode->next;
}
range = Item::items[id].shootRange;
std::string vocationString;
if (!vocStringList.empty()) {
for (STRING_LIST::iterator it = vocStringList.begin(); it != vocStringList.end(); ++it) {
if (*it != vocStringList.front()) {
if (*it != vocStringList.back()) {
vocationString += ", ";
} else {
vocationString += " and ";
}
}
vocationString += *it;
vocationString += "s";
}
}
uint32_t wieldInfo = 0;
if (getReqLevel() > 0) {
wieldInfo |= WIELDINFO_LEVEL;
}
if (getReqMagLv() > 0) {
wieldInfo |= WIELDINFO_MAGLV;
}
if (!vocationString.empty()) {
wieldInfo |= WIELDINFO_VOCREQ;
}
if (isPremium()) {
wieldInfo |= WIELDINFO_PREMIUM;
}
if (wieldInfo != 0) {
ItemType& it = Item::items.getItemType(id);
it.wieldInfo = wieldInfo;
it.vocationString = vocationString;
it.minReqLevel = getReqLevel();
it.minReqMagicLevel = getReqMagLv();
}
if (configureWeapon(Item::items[getID()])) {
return true;
}
return false;
}
