bool CMOOSSerialPort::Configure(STRING_LIST sParams)
{
MOOSTrace("CMOOSSerialPort::Configure() : ");
STRING_LIST::iterator p;
for(p=sParams.begin();p!=sParams.end();++p)
{
std::string sLine = *p;
std::string sTok = MOOSChomp(sLine,"=");
std::string sVal = sLine;
if(MOOSStrCmp(sTok,"PORT"))
{
m_sPort = sVal;
MOOSTrace("%s,",m_sPort.c_str());
}
else if(MOOSStrCmp(sTok,"BAUDRATE"))
{
m_nBaudRate = atoi(sVal.c_str());
if(m_nBaudRate==0)
{
m_nBaudRate = DEFAULT_BAUDRATE;
}
MOOSTrace("%d,",m_nBaudRate);
}
else if(MOOSStrCmp(sTok,"HANDSHAKING"))
{
if(MOOSStrCmp(sVal,"TRUE"))
{
m_bHandShaking = true;
}
else
{
m_bHandShaking = false;
}
}
else if(MOOSStrCmp(sTok,"VERBOSE"))
{
if(MOOSStrCmp(sVal,"TRUE"))
{
m_bVerbose = true;
}
else
{
m_bVerbose = false;
}
}
else if(MOOSStrCmp(sTok,"STREAMING"))
{
if(MOOSStrCmp(sVal,"TRUE"))
{
m_bStreaming = true;
}
else
{
m_bStreaming = false;
}
MOOSTrace("%s,",m_bStreaming?"streaming":"standard");
}
// ARH 14/05/2005 Added to allow use of the 500kbaud CSM PCMCIA card
else if (MOOSStrCmp(sTok, "USECSMEXT"))
{
if (MOOSStrCmp(sVal, "TRUE"))
{
m_bUseCsmExt = true;
}
else
{
m_bUseCsmExt = false;
}
}
}
bool bSuccess = Create(m_sPort.c_str(),m_nBaudRate);
if(bSuccess)
{
Flush();
if(m_bStreaming)
{
bSuccess = StartThreads();
}
}
MOOSTrace("%s\n",bSuccess?"OK":"FAILED");
return bSuccess;
}
bool CMOOSNavEngine::Initialise(STRING_LIST sParams)
{
//make a store for observations..
m_pStore = new CMOOSNavObsStore;
//we may be being asked to map thrust to velocity
string sVal;
if(MOOSGetValueFromToken(sParams,"THRUST2VELOCITY",sVal))
{
if(MOOSStrCmp(sVal,"TRUE"))
{
if(MOOSGetValueFromToken(sParams,"THRUST2VELOCITY_GAIN",sVal))
{
m_bThrust2Vel = true;
m_dfThrust2VelGain = atof(sVal.c_str());
}
}
}
if(MOOSGetValueFromToken(sParams,"SV",sVal))
{
double dfNewSV = atof(sVal.c_str());
if(dfNewSV !=0)
{
m_dfSV=dfNewSV;
}
}
//set up navigation filter logging....
bool bLog = false;
if(MOOSGetValueFromToken(sParams,"NAV_LOG",sVal))
{
bLog = MOOSStrCmp(sVal,"TRUE");
}
if(bLog)
{
string sPath="";
//do we have a globally defined path?
CProcessConfigReader Reader;
Reader.SetFile(m_sMissionFileName);
if(!Reader.GetValue("GLOBALLOGPATH",sPath))
{
//no..get it locally
MOOSGetValueFromToken(sParams,"NAV_LOG_PATH",sPath);
}
bool bTimeStamp=false;
if(MOOSGetValueFromToken(sParams,"NAV_LOG_TIMESTAMP",sVal))
{
bTimeStamp = MOOSStrCmp(sVal,"TRUE");
}
m_Logger.Initialise(m_sName,sPath,bTimeStamp);
}
//Allocate Global states..
SetUpGlobalStates();
AddTheVehicle(sParams);
//fixed observations are attached to the COG...
AddSensor("FIXED","COG", CMOOSNavSensor::FIXED,0,0,0);
//set our default start up state...
//set in constructor of derived classes
SetOnline(m_bInitialOnline);
return true;
}
