/home/toby/moos-ivp/MOOS-2375-Oct0611/Docs/ProgrammingWithMOOS/code/Ex3/Simulator.cpp

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#include "Simulator.h"
#include <math.h>

//default constructor
CSimulator::CSimulator()
{
}

//default (virtual) destructor
CSimulator::~CSimulator()
{
}

bool CSimulator::OnNewMail(MOOSMSG_LIST &NewMail)
{
    return true;
}

bool CSimulator::OnConnectToServer()
{
    return true;
}

bool CSimulator::Iterate()
{ 
    static int k = 0;
    if(k++%10==0)
    {
    //simulate some brownian motion
    static double dfHeading = 0;
    dfHeading+=MOOSWhiteNoise(0.1); 

    //publish the data (2nd param is a double so it will be forever double data...)
    m_Comms.Notify("Heading",dfHeading,MOOSTime());
    }
    if(k%35==0)
    {
    
    static double dfVolts  = 100;
    dfVolts-=fabs(MOOSWhiteNoise(0.1));
    std::string sStatus = MOOSFormat("Status=%s,BatteryVoltage=%.2f,Bilge = %s",
                     dfVolts>50.0? "Good":"Bad",
                     dfVolts,
                     k%100>50?"On":"Off");

    //publish the data (2nd param is a std::string so it will be forever string data...)
    m_Comms.Notify("VehicleStatus",sStatus,MOOSTime());
    }
    return true;
}

bool CSimulator::OnStartUp()
{       
    return true;
}