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src/pStateManagement/StateManagement.cpp

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+/************************************************************/
+/*    NAME: chenlizhi                                       */
+/*    ORGN: MIT                                             */
+/*    FILE: StateManagement.cpp                             */
+/*    DATE:                                                 */
+/************************************************************/
+
+#include <iterator>
+#include "MBUtils.h"
+#include "StateManagement.h"
+#include <json/json.h>
+
+using namespace std;
+
+//---------------------------------------------------------
+// Constructor
+
+StateManagement::StateManagement()
+{
+}
+
+//---------------------------------------------------------
+// Destructor
+
+StateManagement::~StateManagement()
+{
+}
+
+//---------------------------------------------------------
+// Procedure: OnNewMail
+
+bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail)
+{
+  MOOSMSG_LIST::iterator p;
+   
+  for(p=NewMail.begin(); p!=NewMail.end(); p++) {
+    CMOOSMsg &msg = *p;
+
+#if 1 // Keep these around just for template
+    string key   = msg.GetKey();
+    string comm  = msg.GetCommunity();
+    double dval  = msg.GetDouble();
+    string sval  = msg.GetString(); 
+    string msrc  = msg.GetSource();
+    double mtime = msg.GetTime();
+    bool   mdbl  = msg.IsDouble();
+    bool   mstr  = msg.IsString();
+#endif
+
+	  Json::Value deviceState;
+    double manualState;
+    double missionState;
+
+    if(key == "uManual_enable_cmd")
+    {
+      manualState = msg.GetDouble();
+    }  
+    if(key == "uMission_task_fb")
+    {
+      std::string missionStateString = msg.GetString();
+      std::string errMission;
+      Json::Value missionStateData;
+      std::istringstream issm(missionStateString);  
+      Json::CharReaderBuilder builderMission;
+      bool parsingResultMission = Json::parseFromStream(builderMission, issm, &missionStateData, &errMission);  
+      if (!parsingResultMission) {  
+          std::cerr << "Failed to parse JSON string." << std::endl;  
+          return -1;  
+      }  
+      missionState = missionStateData["state"].asInt();
+    }
+
+    if(fabs(manualState - 1) < 1e-6)  //manualState=1
+    {
+      deviceState["opMode"] = opModeLists.external;
+    }
+    else if (fabs(manualState - 0) < 1e-6) //manualState=0
+    {
+      if(missionState == 0)
+      {
+        deviceState["opMode"] = opModeLists.error;
+      }
+      if(missionState == 1)
+      {
+        deviceState["opMode"] = opModeLists.service;
+      }
+      else if((missionState == 3) )
+      {
+        deviceState["opMode"] = opModeLists.maneuver;
+      }
+    }
+
+    Json::StreamWriterBuilder builder;
+    std::string deviceStateString = Json::writeString(builder, deviceState);
+    Notify("uDevice_state_fb", deviceStateString);
+   }
+
+   return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: OnConnectToServer
+
+bool StateManagement::OnConnectToServer()
+{
+   RegisterVariables();
+   return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: Iterate()
+//            happens AppTick times per second
+
+bool StateManagement::Iterate()
+{
+  return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: OnStartUp()
+//            happens before connection is open
+
+bool StateManagement::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 line  = *p;
+      string param = tolower(biteStringX(line, '='));
+      string value = line;
+      
+      if(param == "foo") {
+        //handled
+      }
+      else if(param == "bar") {
+        //handled
+      }
+    }
+  }
+  
+  RegisterVariables();	
+  return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: RegisterVariables
+
+void StateManagement::RegisterVariables()
+{
+  // Register("FOOBAR", 0);
+}
+