8.12

missions/auv150/alpha_vehicle.moos

@@ -0,0 +1,134 @@
+// Alder mission file
+ServerHost = localhost
+ServerPort = 9000
+Community  = auv150
+MOOSTimeWarp = 1
+
+LatOrigin = $(LatOrigin)
+LongOrigin = $(LongOrigin)
+
+//------------------------------------------
+// Antler config block
+ProcessConfig = ANTLER
+{
+  MSBetweenLaunches = 200
+
+  Run = MOOSDB        @ NewConsole = false
+  Run = pNodeReporter	@ NewConsole = false
+  //Run = pLogger     @ NewConsole = false
+  Run = uProcessWatch @ NewConsole = false
+  Run = pHelmIvP      @ NewConsole = false
+  Run = pAUV150       @ NewConsole = false
+  Run = pShare        @ NewConsole = false
+}
+
+//------------------------------------------
+// pShare config block
+
+ProcessConfig = pShare
+{
+  AppTick    = 10
+  CommsTick  = 10
+  //UUV 信息
+  //output = src_name = NODE_REPORT*, route = 192.168.137.7:8085
+  //App 信息
+  //output = src_name = APPCAST*, route = 192.168.137.7:8085
+  //路径点信息
+  //output = src_name = VIEW*, route = 192.168.137.7:8085
+
+  output = src_name = *, route = 192.168.1.100:8085
+  //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  = gly_1.bhv
+  Verbose    = quiet
+  Domain     = course:0:359:360
+  Domain     = speed:0:4:21
+  Domain     = depth:0:100:101
+
+  //IVP_BEHAVIOR_DIR = ../../lib
+
+  ok_skew = any
+  start_in_drive = false
+}
+
+//------------------------------------------
+// pNodeReporter config block
+
+ProcessConfig = pNodeReporter
+{
+  AppTick	  = 2
+  CommsTick	= 2
+
+  platform_length = 2              // meters
+  //platform_beam   = 0.2             // meters
+  platform_type   = auv
+  platform_color  = dodger_blue
+  //vessel_type = auv
+}
+
+//------------------------------------------
+// pAUV150 config block
+
+ProcessConfig = pAUV150
+{
+  AppTick   = 10
+  CommsTick = 10
+
+  server_host = $(server_host)
+  LatOrigin = $(LatOrigin)
+  LongOrigin = $(LongOrigin)
+
+  ControlFrequency = 10
+}
+
+//------------------------------------------
+// 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
+}