8.12

2025-08-12 10:42:30 +08:00
parent fb6874c1e5
commit 71b44dc6b0
15 changed files with 746 additions and 61 deletions
--- a/missions/auv150/alpha_shoreside.moos
+++ b/missions/auv150/alpha_shoreside.moos
@@ -0,0 +1,124 @@
+// 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    = 10
+  CommsTick  = 10
+
+  input = route =  localhost:8085
+  output = src_name=APPCAST_REQ, route=192.168.1.200:8082
+  
+  //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=192.168.1.200:8082
+  output = src_name=DEPLOY, route=192.168.1.200:8082
+  output = src_name=RETURN, route=192.168.1.200:8082
+  output = src_name=MOOS_MANUAL_OVERIDE, route=192.168.1.200:8082
+  output = src_name=PZ, route=192.168.1.200:8082
+  output = src_name=LED, route=192.168.1.200:8082
+  //output = src_name = *, route=192.168.1.200:8082
+}
+
+//------------------------------------------
+// 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                 = 1
+  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
+  BUTTON_Three = PZ # PZ=true
+
+  BUTTON_Four = LED # LED=on
+
+  cmd = label=MANUAL_FALSE, var=MOOS_MANUAL_OVERIDE,  sval=false,  receivers=auv150
+  cmd = label=MANUAL_TRUE, var=MOOS_MANUAL_OVERIDE,  sval=true,  receivers=auv150
+}
+
+//------------------------------------------
+// pLogger config block
+
+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
+}