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增加了岸基配置文件，修复了连接bug

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zjk
2025-06-29 14:15:33 +08:00
parent 805d663a76
commit 47d437abd5
7 changed files with 572 additions and 36 deletions
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2
CMakeLists.txt
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@@ -10,7 +10,7 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.0)
PROJECT( IVP_EXTEND ) PROJECT( IVP_EXTEND )
set (CMAKE_CXX_STANDARD 11) set (CMAKE_CXX_STANDARD 11)
set (MOOSIVP_SOURCE_TREE_BASE "/home/zjk/software/moos-ivp-main") # set (MOOSIVP_SOURCE_TREE_BASE "/home/zjk/software/moos-ivp-main")
#======================================================================= #=======================================================================
# Set the output directories for the binary and library files # Set the output directories for the binary and library files

4
missions/alder/alder.moos
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@@ -21,7 +21,7 @@ ProcessConfig = ANTLER
Run = pMarineViewer @ NewConsole = false Run = pMarineViewer @ NewConsole = false
Run = uProcessWatch @ NewConsole = false Run = uProcessWatch @ NewConsole = false
Run = pHelmIvP @ NewConsole = false Run = pHelmIvP @ NewConsole = false
Run = pAUV150 @ NewConsole = false Run = pAUV150 @ NewConsole = true
//Run = pMotionControler @ NewConsole = false //Run = pMotionControler @ NewConsole = false
} }
@@ -164,7 +164,7 @@ ProcessConfig = pAUV150
//server_host = 10.127.0.18 //server_host = 10.127.0.18
//server_host = 127.0.0.1 //server_host = 127.0.0.1
server_host = 172.24.224.1 server_host = 192.168.137.1
LatOrigin = 43.825300 LatOrigin = 43.825300
LongOrigin = -70.330400 LongOrigin = -70.330400

201
missions/alpha/alpha.moos Normal file
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@@ -0,0 +1,201 @@
// Alder mission file
ServerHost = localhost
ServerPort = 9000
Community = alder
MOOSTimeWarp = 1
LatOrigin = 43.825300
LongOrigin = -70.330400
//------------------------------------------
// Antler config block
ProcessConfig = ANTLER
{
MSBetweenLaunches = 200
Run = MOOSDB @ NewConsole = false
//Run = uSimMarineV22 @ NewConsole = false
Run = pNodeReporter @ NewConsole = false
//Run = pLogger @ NewConsole = false
//Run = pMarinePIDV22 @ NewConsole = false
Run = pMarineViewer @ NewConsole = false
Run = uProcessWatch @ NewConsole = false
Run = pHelmIvP @ NewConsole = false
Run = pAUV150 @ NewConsole = true
//Run = pMotionControler @ NewConsole = false
}
//------------------------------------------
// uSimMarineV22 config block
ProcessConfig = uSimMarineV22
{
AppTick = 10
CommsTick = 10
START_X = 0
START_Y = 0
START_SPEED = 0
START_HEADING = 180
PREFIX = NAV
}
//------------------------------------------
// uProcessWatch config block
ProcessConfig = uProcessWatch
{
AppTick = 4
CommsTick = 4
summary_wait = 5
nowatch = uXMS*
nowatch = uMAC*
nowatch = uPokeDB*
nowatch = uQueryDB*
nowatch = uTermCommand*
watch_all = true
}
//------------------------------------------
// pHelmIvP config block
ProcessConfig = pHelmIvP
{
AppTick = 4
CommsTick = 4
Behaviors = alpha.bhv
Verbose = quiet
Domain = course:0:359:360
Domain = speed:0:4:21
//IVP_BEHAVIOR_DIR = ../../lib
ok_skew = any
start_in_drive = false
}
//------------------------------------------
// pMarinePIDV22 config block
ProcessConfig = pMarinePIDV22
{
AppTick = 10
CommsTick = 10
VERBOSE = true
DEPTH_CONTROL = false
// Yaw PID controller
YAW_PID_KP = 1
YAW_PID_KD = 1
YAW_PID_KI = 1
YAW_PID_INTEGRAL_LIMIT = 1
// Speed PID controller
SPEED_PID_KP = 1.0
SPEED_PID_KD = 0.0
SPEED_PID_KI = 0.0
SPEED_PID_INTEGRAL_LIMIT = 0.07
//MAXIMUMS
MAXRUDDER = 35
MAXTHRUST = 35
// A non-zero SPEED_FACTOR overrides use of SPEED_PID
// Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
SPEED_FACTOR = 20
}
//------------------------------------------
// pMarineViewer config block
ProcessConfig = pMarineViewer
{
AppTick = 4
CommsTick = 4
TIFF_FILE = forrest19.tif
set_pan_x = -90
set_pan_y = -280
zoom = 0.65
vehicle_shape_scale = 1.5
hash_delta = 50
hash_shade = 0.4
hash_viewable = true
scope = ODOMETRY_DIST
// Appcast configuration
appcast_height = 75
appcast_width = 30
appcast_viewable = true
appcast_color_scheme = indigo
nodes_font_size = medium
procs_font_size = medium
appcast_font_size = small
BUTTON_ONE = DEPLOY # DEPLOY=true
BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false
BUTTON_TWO = RETURN # RETURN=true
}
//------------------------------------------
// pNodeReporter config block
ProcessConfig = pNodeReporter
{
AppTick = 2
CommsTick = 2
platform_length = 1.5 // meters
//platform_beam = 0.2 // meters
platform_type = auv
platform_color = dodger_blue
//vessel_type = auv
}
ProcessConfig = pAUV150
{
AppTick = 10
CommsTick = 10
//server_host = 10.127.0.18
//server_host = 127.0.0.1
server_host = 192.168.137.1
LatOrigin = 43.825300
LongOrigin = -70.330400
ControlFrequency = 10
}
ProcessConfig = pMotionControler
{
AppTick = 10
CommsTick = 10
config_file = /home/zjk/project/moos-ivp-extend/missions/alder/ControlParam.json
}
ProcessConfig = pLogger
{
AppTick = 10
CommsTick = 10
File = XLOG_SHORESIDE
PATH = ./
SyncLog = true @ 0.2
AsyncLog = true
FileTimeStamp = true
LogAuxSrc = true
// Log it all!!!!!
WildCardLogging = true
WildCardOmitPattern = *_STATUS
WildCardOmitPattern = DB_VARSUMMARY
WildCardOmitPattern = DB_RWSUMMARY
}

114
missions/alpha/alpha_shoreside.moos Normal file
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@@ -0,0 +1,114 @@
// Alder mission file
ServerHost = localhost
ServerPort = 9000
Community = alpha
MOOSTimeWarp = 1
LatOrigin = 43.825300
LongOrigin = -70.330400
//------------------------------------------
// Antler config block
ProcessConfig = ANTLER
{
MSBetweenLaunches = 200
Run = MOOSDB @ NewConsole = false
//Run = pLogger @ NewConsole = false
Run = pMarineViewer @ NewConsole = false
Run = uProcessWatch @ NewConsole = false
RUn = pShare @ NewConsole = false
}
//------------------------------------------
// pShare config block
ProcessConfig = pShare
{
AppTick = 2
CommsTick = 2
input = route = localhost:8085
output = src_name=APPCAST_REQ, route=10.25.0.230:8081
//输出有两个端口，8081和8082，选择用1或者2
//发送消息看以下格式
//output = src_name=Y, dest_name=B, route=host:port
output = src_name=uMission_action_cmd,route=10.25.0.230:8082
output = DEPLOY, route=10.25.0.230:8082
output = RETURN, route=10.25.0.230:8082
output = MOOS_MANUAL_OVERIDE, route=10.25.0.230:8082
}
//------------------------------------------
// uProcessWatch config block
ProcessConfig = uProcessWatch
{
AppTick = 4
CommsTick = 4
summary_wait = 5
nowatch = uXMS*
nowatch = uMAC*
nowatch = uPokeDB*
nowatch = uQueryDB*
nowatch = uTermCommand*
watch_all = true
}
//------------------------------------------
// pMarineViewer config block
ProcessConfig = pMarineViewer
{
AppTick = 4
CommsTick = 4
TIFF_FILE = forrest19.tif
set_pan_x = -90
set_pan_y = -280
zoom = 0.65
vehicle_shape_scale = 1.5
hash_delta = 50
hash_shade = 0.4
hash_viewable = true
scope = ODOMETRY_DIST
// Appcast configuration
appcast_height = 75
appcast_width = 30
appcast_viewable = true
appcast_color_scheme = indigo
nodes_font_size = medium
procs_font_size = medium
appcast_font_size = small
BUTTON_ONE = DEPLOY # DEPLOY=true
BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false
BUTTON_TWO = RETURN # RETURN=true
}
ProcessConfig = pLogger
{
AppTick = 10
CommsTick = 10
File = XLOG_SHORESIDE
PATH = ./
SyncLog = true @ 0.2
AsyncLog = true
FileTimeStamp = true
LogAuxSrc = true
// Log it all!!!!!
WildCardLogging = true
WildCardOmitPattern = *_STATUS
WildCardOmitPattern = DB_VARSUMMARY
WildCardOmitPattern = DB_RWSUMMARY
}

94
missions/alpha/alpha_test.bhv Normal file
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@@ -0,0 +1,94 @@
//-------- FILE: alpha.bhv -------------
initialize DEPLOY = false
initialize RETURN = false
//----------------------------------------------
Behavior = BHV_Waypoint
{
name = waypt_survey
pwt = 100
condition = RETURN = false
condition = DEPLOY = true
endflag = RETURN = true
configflag = CRUISE_SPD = $[SPEED]
//configflag = OSPOS = $[OSX],$[OSY]
activeflag = INFO=$[OWNSHIP]
activeflag = INFO=$[BHVNAME]
activeflag = INFO=$[BHVTYPE]
cycleflag = CINFO=$[OSX],$[OSY]
wptflag = PREV=$(PX),$(PY)
wptflag = NEXT=$(NX),$(NY)
wptflag = TEST=$(X),$(Y)
wptflag = OSPOS=$(OSX),$(OSY)
wptflag_on_start = true
updates = WPT_UPDATE
perpetual = true
speed_alt = 1.2
use_alt_speed = true
lead = 8
lead_damper = 1
lead_to_start = true
speed = 12 // meters per second
capture_line = true
capture_radius = 5.0
slip_radius = 15.0
efficiency_measure = all
// points = pts={107.5,-53.5:112,-43.8:112,-46.1:111.7,-49.3:108.3,-52.7:107.7,-53.3}
polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
order = normal
//repeat = 100000
repeat = 3
visual_hints = nextpt_color=yellow
visual_hints = nextpt_vertex_size=8
visual_hints = nextpt_lcolor=gray70
visual_hints = vertex_color=dodger_blue, edge_color=white
visual_hints = vertex_size=5, edge_size=1
}
//----------------------------------------------
Behavior=BHV_Waypoint
{
name = waypt_return
pwt = 100
condition = RETURN = true
condition = DEPLOY = true
condition = ((DEPLoy = true) or (alpha = one)) or (bravo = two)
perpetual = true
updates = RETURN_UPDATE
endflag = RETURN = false
endflag = DEPLOY = false
endflag = MISSION = complete
speed = 2.0
capture_radius = 2.0
slip_radius = 8.0
points = 0,-20
}
//----------------------------------------------
Behavior=BHV_ConstantSpeed
{
name = const_speed
pwt = 200
condition = SPD=true
condition = DEPLOY = true
perpetual = true
updates = SPEED_UPDATE
endflag = SPD = false
speed = 0.5
duration = 10
duration_reset = CONST_SPD_RESET=true
}

126
missions/alpha/alpha_vehicle.moos Normal file
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@@ -0,0 +1,126 @@
// Alder mission file
ServerHost = localhost
ServerPort = 9000
Community = alpha
MOOSTimeWarp = 1
LatOrigin = 43.825300
LongOrigin = -70.330400
//------------------------------------------
// Antler config block
ProcessConfig = ANTLER
{
MSBetweenLaunches = 200
Run = MOOSDB @ NewConsole = false
Run = pNodeReporter @ NewConsole = false
//Run = pLogger @ NewConsole = false
//Run = pMarineViewer @ NewConsole = false
Run = uProcessWatch @ NewConsole = false
Run = pHelmIvP @ NewConsole = false
Run = pAUV150 @ NewConsole = false
Run = pShare @ NewConsole = false
}
ProcessConfig = pShare
{
AppTick = 2
CommsTick = 2
//UUV 信息
output = src_name = NODE_REPORT*, route = 10.25.0.160:8085
//App 信息
output = src_name = APPCAST*, route = 10.25.0.160:8085
//路径点信息
output = src_name = VIEW*, route = 10.25.0.160:8085
//调试端输入端口
input = route = localhost:8082
}
//------------------------------------------
// uProcessWatch config block
ProcessConfig = uProcessWatch
{
AppTick = 4
CommsTick = 4
summary_wait = 5
nowatch = uXMS*
nowatch = uMAC*
nowatch = uPokeDB*
nowatch = uQueryDB*
nowatch = uTermCommand*
watch_all = true
}
//------------------------------------------
// pHelmIvP config block
ProcessConfig = pHelmIvP
{
AppTick = 4
CommsTick = 4
Behaviors = alpha.bhv
Verbose = quiet
Domain = course:0:359:360
Domain = speed:0:4:21
//IVP_BEHAVIOR_DIR = ../../lib
ok_skew = any
start_in_drive = false
}
//------------------------------------------
// pNodeReporter config block
ProcessConfig = pNodeReporter
{
AppTick = 2
CommsTick = 2
platform_length = 1.5 // meters
//platform_beam = 0.2 // meters
platform_type = auv
platform_color = dodger_blue
//vessel_type = auv
}
ProcessConfig = pAUV150
{
AppTick = 10
CommsTick = 10
//server_host = 10.127.0.18
//server_host = 127.0.0.1
server_host = 192.168.137.1
LatOrigin = 43.825300
LongOrigin = -70.330400
ControlFrequency = 10
}
ProcessConfig = pLogger
{
AppTick = 10
CommsTick = 10
File = XLOG_SHORESIDE
PATH = ./
SyncLog = true @ 0.2
AsyncLog = true
FileTimeStamp = true
LogAuxSrc = true
// Log it all!!!!!
WildCardLogging = true
WildCardOmitPattern = *_STATUS
WildCardOmitPattern = DB_VARSUMMARY
WildCardOmitPattern = DB_RWSUMMARY
}

67
src/pAUV150/AUV150.cpp
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@@ -263,6 +263,7 @@ bool AUV150::ListenLoop()
try try
{ {
if((m_TcpSocket!=NULL) && m_bConnected) if((m_TcpSocket!=NULL) && m_bConnected)
// if((m_TcpSocket!=NULL))
{ {
int count = m_TcpSocket->iReadMessageWithTimeOut(buffer, sizeof(FeedbackFrame_150AUV),3); int count = m_TcpSocket->iReadMessageWithTimeOut(buffer, sizeof(FeedbackFrame_150AUV),3);
if(count > 0) { if(count > 0) {
@@ -304,40 +305,40 @@ bool AUV150::ListenLoop()
m_status.heading_error = m_control.rtY.heading_error; m_status.heading_error = m_control.rtY.heading_error;
m_status.pitch_error = m_control.rtY.pitch_error; m_status.pitch_error = m_control.rtY.pitch_error;
// } // }
// 发送消息
try
{
m_TcpSocket->iSendMessage(&m_CommandFrame, sizeof(CommandFrame_150AUV));
m_controlGap = MOOSTime() - m_desiredVarTime;
m_controlTime = MOOSTime();
m_bConnected = true;
}
catch(XPCException &e)
{
m_bConnected = false;
std::cerr << "there was trouble sending message: "
<< e.sGetException() << "\n";
}
// 计算控制频率
m_samplingTime = MOOSTime();
message_count++;
double elapsed_time = m_samplingTime - start_time;
if(elapsed_time >= 1.0) { // 每秒更新一次频率
m_real_read_freq = message_count / elapsed_time;
message_count = 0;
start_time = MOOSTime();
}
//正常情况下清除错误码
m_faultCodes.erase(0x11);
m_faultCodes.erase(0x12);
m_faultCodes.erase(0x13);
}
else
{
m_faultCodes.insert(0x12); //无数据接收
}
} }
// 发送消息
try
{
m_TcpSocket->iSendMessage(&m_CommandFrame, sizeof(CommandFrame_150AUV));
m_controlGap = MOOSTime() - m_desiredVarTime;
m_controlTime = MOOSTime();
m_bConnected = true;
}
catch(XPCException &e)
{
m_bConnected = false;
std::cerr << "there was trouble sending message: "
<< e.sGetException() << "\n";
}
// 计算控制频率
m_samplingTime = MOOSTime();
message_count++;
double elapsed_time = m_samplingTime - start_time;
if(elapsed_time >= 1.0) { // 每秒更新一次频率
m_real_read_freq = message_count / elapsed_time;
message_count = 0;
start_time = MOOSTime();
}
//正常情况下清除错误码
m_faultCodes.erase(0x11);
m_faultCodes.erase(0x12);
m_faultCodes.erase(0x13);
}
else
{
m_faultCodes.insert(0x12); //无数据接收
}
} }
catch (XPCException & e) catch (XPCException & e)
{ {