mods by mikerb Sat Aug 31 09:35:01 EDT 2024

missions/alder/README

@@ -0,0 +1,11 @@
+To Run this mission, make sure that the following two bin
+directories are in your path:
+
+moos-ivp/ivp/bin/
+moos-ivp-extend/bin/
+
+Then launch the mission by:
+
+pAntler alder.moos
+
+ 

missions/alder/alder.bhv

@@ -0,0 +1,33 @@
+//--------    FILE: alder.bhv   -------------
+
+initialize   DEPLOY = false
+initialize   RETURN = false
+
+//----------------------------------------------
+Behavior = BHV_SimpleWaypoint
+{ 
+  name      = waypt_to_point
+  pwt       = 100
+  condition = RETURN = false
+  condition = DEPLOY = true
+  endflag   = RETURN = true
+
+  speed      = 2.0   // meters per second
+  radius     = 8.0
+  ptx        = 100
+  pty        = -50
+}
+
+//----------------------------------------------
+Behavior = BHV_Waypoint
+{
+  name       = waypt_return
+  pwt        = 100
+  condition  = (RETURN = true)
+  condition  = (DEPLOY = true)
+
+  speed      = 2.0
+  radius     = 8.0
+  point      = 0,0
+}
+

missions/alder/alder.moos

@@ -0,0 +1,152 @@
+// 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 = pMarinePIDV22 @ NewConsole = false
+  Run = pMarineViewer	@ NewConsole = false
+  Run = uProcessWatch @ NewConsole = false
+  Run = pHelmIvP      @ NewConsole = false
+  //Run = pOdometry     @ 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  = alder.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    = 20
+  CommsTick  = 20
+
+  VERBOSE       = true
+  DEPTH_CONTROL = false
+
+  // Yaw PID controller
+  YAW_PID_KP		 = 0.5
+  YAW_PID_KD		 = 0.0
+  YAW_PID_KI		 = 0.0
+  YAW_PID_INTEGRAL_LIMIT = 0.07
+
+  // 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    = 100
+  MAXTHRUST    = 100
+
+  // 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
+
+  vessel_type = kayak
+}

missions/xrelay/xrelay.moos

@@ -0,0 +1,54 @@
+// MOOS file
+
+ServerHost = localhost
+ServerPort = 9000
+
+//------------------------------------------
+// Antler configuration  block
+ProcessConfig = ANTLER
+{
+  MSBetweenLaunches = 200
+
+  Run = MOOSDB       @ NewConsole = false
+  Run = pXRelay      @ NewConsole = true ~ pXRelay_APPLES
+  Run = pXRelay      @ NewConsole = true ~ pXRelay_PEARS
+  Run = uXMS         @ NewConsole = true
+}
+
+
+//------------------------------------------
+// First pXRelay configuration block
+
+ProcessConfig = pXRelay_APPLES
+{
+   AppTick   = 4
+   CommsTick = 4
+ 
+   OUTGOING_VAR = APPLES
+   INCOMING_VAR = PEARS
+}
+
+//------------------------------------------
+// Second pXRelay configuration block
+
+ProcessConfig = pXRelay_PEARS
+{
+   AppTick   = 4
+   CommsTick = 4
+ 
+   OUTGOING_VAR = PEARS
+   INCOMING_VAR = APPLES
+}
+
+//------------------------------------------
+// uXMS configuration block
+
+ProcessConfig = uXMS
+{
+   AppTick   = 4
+   CommsTick = 4
+ 
+   VAR = PEARS,  PEARS_ITER_HZ,  PEARS_POST_HZ
+   VAR = APPLES, APPLES_ITER_HZ, APPLES_POST_HZ
+}
+