/** OnNewMail */
bool CImageGrabberApp::OnNewMail(MOOSMSG_LIST &NewMail)
{
std::string cad;
for(MOOSMSG_LIST::iterator i = NewMail.begin(); i != NewMail.end(); ++i)
{
if( (i->GetName()=="SHUTDOWN") && (MOOSStrCmp(i->GetString(),"true")) )
{
// Disconnect comms:
MOOSTrace("Closing Module \n");
this->RequestQuit();
}
if( (i->GetName()=="IMG_GRABBER_CMD") ) // process command to the grabber, typically: start or stop to grab
{
VERBOSE_LEVEL(2) << "[pImageGrabber -- INFO] Received Command: " << i->GetString().c_str() << endl;
std::deque<std::string> lista;
mrpt::system::tokenize( i->GetString(), " ", lista );
cad = MOOSToLower( lista[0].c_str() );
if( MOOSStrCmp(cad,"start") )
{
if( !m_start_grabbing )
{
m_grabbed_images_counter = 0; // reset counter of grabbed images
m_start_grabbing = true;
VERBOSE_LEVEL(1) << "[pImageGrabber -- INFO] Image recording started." << endl;
} // end-start-grabbing
}
else if( MOOSStrCmp(cad,"stop") )
{
if( m_start_grabbing )
{
m_start_grabbing = false;
VERBOSE_LEVEL(1) << "[pImageGrabber -- INFO] Image recording stopped." << endl;
} // end-stop-grabbing
}
else VERBOSE_LEVEL(0) << "[pImageGrabber -- INFO] Command not recognized: " << cad << endl;
}
}
UpdateMOOSVariables(NewMail);
return true;
} // end-OnNewMail
void moossafir::SimDriver::do_work()
{
MOOSMSG_LIST msgs;
if(moos_client_.Fetch(msgs))
{
for(MOOSMSG_LIST::iterator it = msgs.begin(),
end = msgs.end(); it != end; ++it)
{
const std::string& in_moos_var = driver_cfg_.GetExtension(moossafir::Config::incoming_moos_var);
if(it->GetKey() == in_moos_var)
{
const std::string& value = it->GetString();
glog.is(DEBUG1) &&
glog << group(glog_in_group()) << in_moos_var << ": " << value << std::endl;
goby::acomms::protobuf::ModemRaw in_raw;
in_raw.set_raw(value);
ModemDriverBase::signal_raw_incoming(in_raw);
try
{
goby::acomms::protobuf::ModemTransmission m;
std::string data;
int id;
if(goby::moos::val_from_string(data, value, "data"))
m.add_frame(dccl::hex_decode(data));
if(!goby::moos::val_from_string(id, value, "modem_id"))
throw(std::runtime_error("No `modem_id` field"));
m.set_src(id);
receive_message(m);
}
catch(std::exception& e)
{
glog.is(DEBUG1) &&
glog << group(glog_in_group()) << warn << "Failed to parse incoming message: " << e.what() << std::endl;
}
}
}
}
}