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