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更新平台端口的配置文件

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zjk
2025-06-29 19:04:39 +08:00
parent 47d437abd5
commit f81f58c448
5 changed files with 28 additions and 12 deletions
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0
missions/alpha/alpha_test.bhv → missions/alpha/alpha.bhv
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21
missions/alpha/alpha.moos
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@@ -17,12 +17,27 @@ ProcessConfig = ANTLER
//Run = uSimMarineV22 @ NewConsole = false //Run = uSimMarineV22 @ NewConsole = false
Run = pNodeReporter @ NewConsole = false Run = pNodeReporter @ NewConsole = false
//Run = pLogger @ NewConsole = false //Run = pLogger @ NewConsole = false
//Run = pMarinePIDV22 @ NewConsole = false
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 = true Run = pAUV150 @ NewConsole = false
//Run = pMotionControler @ NewConsole = false Run = pShare @ NewConsole = false
}
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 = 192.168.137.7:8085
//调试端输入端口
input = route = localhost:8082
} }
//------------------------------------------ //------------------------------------------

2
missions/alpha/alpha_shoreside.moos
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@@ -28,7 +28,7 @@ ProcessConfig = pShare
CommsTick = 2 CommsTick = 2
input = route = localhost:8085 input = route = localhost:8085
output = src_name=APPCAST_REQ, route=10.25.0.230:8081 output = src_name=APPCAST_REQ, route=10.25.0.230:8082
//输出有两个端口，8081和8082，选择用1或者2 //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 //发送消息看以下格式

15
missions/alpha/alpha_vehicle.moos
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@@ -1,7 +1,7 @@
// Alder mission file // Alder mission file
ServerHost = localhost ServerHost = localhost
ServerPort = 9000 ServerPort = 9000
Community = alpha Community = auv150
MOOSTimeWarp = 1 MOOSTimeWarp = 1
LatOrigin = 43.825300 LatOrigin = 43.825300
@@ -16,7 +16,6 @@ ProcessConfig = ANTLER
Run = MOOSDB @ NewConsole = false Run = MOOSDB @ NewConsole = false
Run = pNodeReporter @ NewConsole = false Run = pNodeReporter @ NewConsole = false
//Run = pLogger @ NewConsole = false //Run = pLogger @ 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 = false
@@ -25,14 +24,16 @@ ProcessConfig = ANTLER
ProcessConfig = pShare ProcessConfig = pShare
{ {
AppTick = 2 AppTick = 10
CommsTick = 2 CommsTick = 10
//UUV 信息 //UUV 信息
output = src_name = NODE_REPORT*, route = 10.25.0.160:8085 //output = src_name = NODE_REPORT*, route = 192.168.137.7:8085
//App 信息 //App 信息
output = src_name = APPCAST*, route = 10.25.0.160:8085 //output = src_name = APPCAST*, route = 192.168.137.7:8085
//路径点信息 //路径点信息
output = src_name = VIEW*, route = 10.25.0.160:8085 //output = src_name = VIEW*, route = 192.168.137.7:8085
output = src_name = *, route = 192.168.137.7:8085
//调试端输入端口 //调试端输入端口
input = route = localhost:8082 input = route = localhost:8082
} }

2
src/pAUV150/Controler/Controler_data.cpp
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@@ -44,7 +44,7 @@ Controler::P Controler::rtP{
// '<S49>/Proportional Gain' // '<S49>/Proportional Gain'
{ {
1, 5.0,
0.8, 0.8,
0.01, 0.01,
10.0 10.0