解决了冲突
This commit is contained in:
zengxiaobin
11
missions/alder/README
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11
missions/alder/README
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@@ -0,0 +1,11 @@
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To Run this mission, make sure that the following two bin
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directories are in your path:
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moos-ivp/ivp/bin/
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moos-ivp-extend/bin/
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Then launch the mission by:
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pAntler alder.moos
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33
missions/alder/alder.bhv
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33
missions/alder/alder.bhv
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@@ -0,0 +1,33 @@
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//-------- FILE: alder.bhv -------------
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initialize DEPLOY = false
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initialize RETURN = false
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//----------------------------------------------
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Behavior = BHV_SimpleWaypoint
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{
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name = waypt_to_point
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pwt = 100
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condition = RETURN = false
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condition = DEPLOY = true
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endflag = RETURN = true
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speed = 2.0 // meters per second
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radius = 8.0
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ptx = 100
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pty = -50
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}
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//----------------------------------------------
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Behavior = BHV_Waypoint
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{
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name = waypt_return
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pwt = 100
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condition = (RETURN = true)
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condition = (DEPLOY = true)
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speed = 2.0
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radius = 8.0
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point = 0,0
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}
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166
missions/alder/alder.moos
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166
missions/alder/alder.moos
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@@ -0,0 +1,166 @@
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// Level 2 Configuration file: M. Benjamin
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ServerHost = localhost
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ServerPort = 9000
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Simulator = true
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Community = alder
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MOOSTimeWarp = 1
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LatOrigin = 43.825300
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LongOrigin = -70.330400
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//------------------------------------------
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// Antler configuration block
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ProcessConfig = ANTLER
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{
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MSBetweenLaunches = 200
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Run = MOOSDB @ NewConsole = false
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Run = uSimMarine @ NewConsole = false
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Run = pNodeReporter @ NewConsole = false
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Run = pMarinePID @ NewConsole = false
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Run = pMarineViewer @ NewConsole = false
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Run = uProcessWatch @ NewConsole = false
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Run = pHelmIvP @ NewConsole = false
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Run = pOdometry @ NewConsole = false
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Run = pBoardSupportComm @ NewConsole = false
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}
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//------------------------------------------
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// uSimMarine config block
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ProcessConfig = uSimMarine
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{
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AppTick = 10
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CommsTick = 10
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START_X = 0
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START_Y = 0
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START_SPEED = 0
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START_HEADING = 180
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PREFIX = NAV
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}
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//------------------------------------------
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// uProcessWatch config block
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ProcessConfig = uProcessWatch
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{
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AppTick = 4
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CommsTick = 4
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term_report_interval = 0.8
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summary_wait = 5
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nowatch = uXMS*
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nowatch = uPokeDB*
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nowatch = uTermCommand*
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watch_all = true
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}
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//------------------------------------------
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// pHelmIvP config block
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ProcessConfig = pHelmIvP
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{
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AppTick = 4
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CommsTick = 4
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Behaviors = alder.bhv
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Verbose = quiet
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Domain = course:0:359:360
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Domain = speed:0:4:21
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IVP_BEHAVIOR_DIR = ../../lib
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//IVP_BEHAVIOR_DIR = /Users/mikerb/Research/moos-ivp-extend/trunk/lib
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ok_skew = any
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start_in_drive = false
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}
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//------------------------------------------
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// pMarinePID config block
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ProcessConfig = pMarinePID
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{
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AppTick = 20
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CommsTick = 20
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VERBOSE = true
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DEPTH_CONTROL = false
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// Yaw PID controller
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YAW_PID_KP = 0.5
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YAW_PID_KD = 0.0
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YAW_PID_KI = 0.0
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YAW_PID_INTEGRAL_LIMIT = 0.07
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// Speed PID controller
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SPEED_PID_KP = 1.0
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SPEED_PID_KD = 0.0
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SPEED_PID_KI = 0.0
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SPEED_PID_INTEGRAL_LIMIT = 0.07
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//MAXIMUMS
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MAXRUDDER = 100
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MAXTHRUST = 100
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// A non-zero SPEED_FACTOR overrides use of SPEED_PID
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// Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
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SPEED_FACTOR = 20
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}
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//------------------------------------------
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// pMarineViewer config block
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ProcessConfig = pMarineViewer
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{
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AppTick = 4
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CommsTick = 4
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TIFF_FILE = forrest19.tif
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set_pan_x = -90
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set_pan_y = -280
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zoom = 0.65
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vehicle_shape_scale = 1.5
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hash_delta = 50
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hash_shade = 0.4
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hash_viewable = true
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scope = ODOMETRY_DIST
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// Appcast configuration
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appcast_height = 75
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appcast_width = 30
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appcast_viewable = true
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appcast_color_scheme = indigo
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nodes_font_size = medium
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procs_font_size = medium
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appcast_font_size = small
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BUTTON_ONE = DEPLOY # DEPLOY=true
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BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false
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BUTTON_TWO = RETURN # RETURN=true
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}
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//------------------------------------------
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// pNodeReporter config block
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ProcessConfig = pNodeReporter
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{
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AppTick = 2
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CommsTick = 2
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VESSEL_TYPE = KAYAK
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}
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ProcessConfig = pBoardSupportComm
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{
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AppTick = 4
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CommsTick = 4
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}
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41
missions/alder/alder_orig.bhv
Normal file
41
missions/alder/alder_orig.bhv
Normal file
@@ -0,0 +1,41 @@
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//-------- FILE: alder.bhv -------------
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initialize DEPLOY = false
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initialize RETURN = false
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//----------------------------------------------
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Behavior = BHV_SimpleWaypoint
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{
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name = waypt_to_point
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pwt = 100
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condition = RETURN = false
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condition = DEPLOY = true
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endflag = RETURN = true
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speed = 2.0 // meters per second
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radius = 8.0
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ptx = 100
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pty = -50
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}
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//----------------------------------------------
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Behavior = BHV_SimpleWaypoint
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{
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name = waypt_return
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pwt = 100
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condition = (RETURN = true)
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condition = (DEPLOY = true)
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speed = 2.0
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radius = 8.0
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ptx = 0
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pty = 0
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}
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//----------------------------------------------
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Behavior = BHV_HSLine
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{
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name = hsline
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time_on_leg = 20
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}
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93
missions/s3_alpha/alpha.bhv
Executable file
93
missions/s3_alpha/alpha.bhv
Executable file
@@ -0,0 +1,93 @@
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//-------- FILE: alpha.bhv -------------
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initialize DEPLOY = false
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initialize RETURN = false
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initialize REGION = east
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//----------------------------------------------
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Behavior = BHV_Waypoint
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{
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name = waypt_survey
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pwt = 100
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condition = RETURN = false
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condition = DEPLOY = true
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condition = REGION = east
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endflag = REGION = west
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updates = WPT_UPDATE
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perpetual = true
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lead = 8
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lead_damper = 1
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lead_to_start = true
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speed = 3 // meters per second
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capture_line = true
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capture_radius = 5.0
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slip_radius = 15.0
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efficiency_measure = all
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polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
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order = normal
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repeat = forever
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visual_hints = nextpt_color=yellow
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visual_hints = nextpt_vertex_size=8
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visual_hints = nextpt_lcolor=gray70
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visual_hints = vertex_color=dodger_blue, edge_color=white
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visual_hints = vertex_size=5, edge_size=1
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}
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//----------------------------------------------
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Behavior = BHV_Waypoint
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{
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name = west_waypt_survey
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pwt = 100
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condition = RETURN = false
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condition = DEPLOY = true
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condition = REGION = west
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endflag = RETURN = true
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updates = WPT_UPDATE
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perpetual = true
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lead = 8
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lead_damper = 1
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lead_to_start = true
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speed = 3 // meters per second
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capture_line = true
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capture_radius = 5.0
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slip_radius = 15.0
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efficiency_measure = all
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points = -35,-65 : -35,-125 : 20,-125 : 20, -65
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order = normal
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repeat = forever
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visual_hints = nextpt_color=yellow
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visual_hints = nextpt_vertex_size=8
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visual_hints = nextpt_lcolor=gray70
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visual_hints = vertex_color=dodger_blue, edge_color=white
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visual_hints = vertex_size=5, edge_size=1
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}
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//----------------------------------------------
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Behavior=BHV_Waypoint
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{
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name = waypt_return
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pwt = 100
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condition = RETURN = true
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condition = DEPLOY = true
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perpetual = true
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updates = RETURN_UPDATE
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endflag = RETURN = false
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endflag = DEPLOY = false
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endflag = MISSION = complete
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speed = 2.0
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capture_radius = 2.0
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slip_radius = 8.0
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points = 0,-20
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}
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310
missions/s3_alpha/alpha.moos
Executable file
310
missions/s3_alpha/alpha.moos
Executable file
@@ -0,0 +1,310 @@
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/-------------------------------------------------
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// NAME: M. Benjamin, MIT CSAIL
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// FILE: alpha.moos
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//-------------------------------------------------
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ServerHost = localhost
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ServerPort = 9000
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Community = alpha
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MOOSTimeWarp = 1
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// Forest Lake
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LatOrigin = 43.825300
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LongOrigin = -70.330400
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// MIT Sailing Pavilion (use this one)
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// LatOrigin = 42.358456
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// LongOrigin = -71.087589
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ReferenceLongitude = LongOrigin
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ReferenceLatitude = LatOrigin
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ReferenceAltitude = 0
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//ReferenceLongitude = -70.330400
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//ReferenceLatitude = 43.825300
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//ReferenceAltitude = 0
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PlanConfigPath = "PlanConfigure.json"
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//------------------------------------------
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// Antler configuration block
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ProcessConfig = ANTLER
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{
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MSBetweenLaunches = 200
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Run = MOOSDB @ NewConsole = false
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//Run = pLogger @ NewConsole = false
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Run = uSimMarineV22 @ NewConsole = false
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Run = pMarinePIDV22 @ NewConsole = false
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Run = pHelmIvP @ NewConsole = false
|
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Run = pMarineViewer @ NewConsole = false
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Run = uProcessWatch @ NewConsole = false
|
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Run = pNodeReporter @ NewConsole = false
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Run = pBoardSupportComm @ NewConsole = false
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Run = pSurfaceSupportComm @ NewConsole = false
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//Run = pDataManagement @ NewConsole = false
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//Run = pClientViewer @ NewConsole = false
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}
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//------------------------------------------
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// pLogger config block
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ProcessConfig = pLogger
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{
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AppTick = 8
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CommsTick = 8
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AsyncLog = true
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FileTimeStamp = true
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// For variables that are published in a bundle on their first post,
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// explicitly declare their logging request
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Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC
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Log = REPORT @ 0 NOSYNC
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LogAuxSrc = true
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WildCardLogging = true
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WildCardOmitPattern = *_STATUS
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WildCardOmitPattern = DB_VARSUMMARY
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WildCardOmitPattern = DB_RWSUMMARY
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WildCardExclusionLog = true
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}
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||||
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//------------------------------------------
|
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// uProcessWatch
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ProcessConfig = uProcessWatch
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||||
{
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AppTick = 4
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CommsTick = 4
|
||||
|
||||
watch_all = true
|
||||
nowatch = uPokeDB*
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||||
nowatch = uXMS*
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||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// uSimMarine config block
|
||||
|
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ProcessConfig = uSimMarine
|
||||
{
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AppTick = 5
|
||||
CommsTick = 5
|
||||
|
||||
start_x = 0
|
||||
start_y = -40
|
||||
start_heading = 180
|
||||
start_speed = 0
|
||||
|
||||
prefix = NAV
|
||||
|
||||
turn_rate = 40 Run = pNodeReporter @ NewConsole = false
|
||||
thrust_map = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5
|
||||
thrust_reflect = true
|
||||
}
|
||||
|
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//------------------------------------------
|
||||
// uSimMarineV22 config block
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||||
|
||||
ProcessConfig = uSimMarineV22
|
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{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
start_pos = x=0, y=-20, heading=180, speed=0
|
||||
|
||||
prefix = NAV
|
||||
|
||||
turn_rate = 40
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||||
thrust_map = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5
|
||||
//thrust_reflect = true
|
||||
}
|
||||
|
||||
ProcessConfig = pHelmIvP
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
bhv_dir_not_found_ok = true
|
||||
|
||||
behaviors = alpha.bhv
|
||||
domain = course:0:359:360
|
||||
domain = speed:0:4:41
|
||||
}
|
||||
|
||||
|
||||
//------------------------------------------
|
||||
// pMarinePID config block Run = pNodeReporter @ NewConsole = false
|
||||
|
||||
ProcessConfig = pMarinePID
|
||||
{
|
||||
AppTick = 20
|
||||
CommsTick = 20
|
||||
|
||||
verbose = true
|
||||
depth_control = false
|
||||
|
||||
// SIM_INSTABILITY = 20
|
||||
|
||||
// Yaw PID controller
|
||||
yaw_pid_kp = 1.2
|
||||
yaw_pid_kd = 0.0
|
||||
yaw_pid_ki = 0.3
|
||||
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
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pMarinePID config block
|
||||
|
||||
ProcessConfig = pMarinePIDV22
|
||||
{
|
||||
AppTick = 20
|
||||
CommsTick = 20
|
||||
|
||||
verbose = true
|
||||
depth_control = false
|
||||
|
||||
// SIM_INSTABILITY = 20
|
||||
|
||||
// Yaw PID controller
|
||||
yaw_pid_kp = 1.2
|
||||
yaw_pid_kd = 0.0
|
||||
yaw_pid_ki = 0.3
|
||||
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
|
||||
}
|
||||
|
||||
ProcessConfig = pMarineViewer
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
tiff_file = forrest19.tif
|
||||
//tiff_file = MIT_SP.tif
|
||||
|
||||
set_pan_x = -90
|
||||
set_pan_y = -280
|
||||
zoom = 0.65
|
||||
vehicle_shape_scale = 1.5
|
||||
hash_delta = 50
|
||||
hash_shade = 0.22
|
||||
hash_viewable = true
|
||||
|
||||
trails_point_size = 1
|
||||
|
||||
//op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa
|
||||
//op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa
|
||||
//op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa
|
||||
//op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa
|
||||
|
||||
// vcolor = alpha=dodgerblue
|
||||
|
||||
// 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
|
||||
|
||||
// datum_viewable = true
|
||||
// datum_size = 18
|
||||
// gui_size = small
|
||||
|
||||
// left_context[survey-point] = DEPLOY=true
|
||||
// left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false
|
||||
// left_context[survey-point] = RETURN=false
|
||||
|
||||
right_context[return] = DEPLOY=true
|
||||
right_context[return] = MOOS_MANUAL_OVERRIDE=false
|
||||
right_context[return] = RETURN=false
|
||||
|
||||
scope = RETURN
|
||||
scope = WPT_STAT
|
||||
scope = VIEW_SEGLIST
|
||||
scope = VIEW_POINT
|
||||
scope = VIEW_POLYGON
|
||||
scope = MVIEWER_LCLICK
|
||||
scope = MVIEWER_RCLICK
|
||||
|
||||
button_one = DEPLOY # DEPLOY=true
|
||||
button_one = MOOS_MANUAL_OVERRIDE=false # RETURN=false
|
||||
button_two = RETURN # RETURN=true
|
||||
|
||||
button_three = WEST # REGION=west
|
||||
button_four = EAST # REGION=east
|
||||
|
||||
button_five = SLOWER # WPT_UPDATE=speed=1.5
|
||||
button_six = FASTER # WPT_UPDATE=speed=3.5
|
||||
|
||||
action = MENU_KEY=deploy # DEPLOY = true # RETURN = false
|
||||
action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false
|
||||
action = RETURN=true
|
||||
action = UPDATES_RETURN=speed=1.4
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pNodeReporter config block
|
||||
|
||||
ProcessConfig = pNodeReporter
|
||||
{
|
||||
AppTick = 2
|
||||
CommsTick = 2
|
||||
|
||||
platform_type = kayak
|
||||
platform_color = yellow
|
||||
platform_length = 4
|
||||
}
|
||||
|
||||
ProcessConfig = pBoardSupportComm
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
}
|
||||
|
||||
ProcessConfig = pSurfaceSupportComm
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
}
|
||||
|
||||
ProcessConfig = pDataManagement
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
}
|
||||
|
||||
ProcessConfig = pClientViewer
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
}
|
||||
6
missions/s3_alpha/clean.sh
Executable file
6
missions/s3_alpha/clean.sh
Executable file
@@ -0,0 +1,6 @@
|
||||
#!/bin/bash
|
||||
|
||||
rm -rf MOOSLog_*
|
||||
rm -f *~
|
||||
rm -f *.moos++
|
||||
rm -f .LastOpenedMOOSLogDirectory
|
||||
34
missions/s3_alpha/launch.sh
Executable file
34
missions/s3_alpha/launch.sh
Executable file
@@ -0,0 +1,34 @@
|
||||
#!/bin/bash -e
|
||||
COMMUNITY="alpha"
|
||||
|
||||
#-------------------------------------------------------
|
||||
# Part 1: Check for and handle command-line arguments
|
||||
#-------------------------------------------------------
|
||||
TIME_WARP=10
|
||||
for ARGI; do
|
||||
if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then
|
||||
printf "%s [SWITCHES] [time_warp] \n" $0
|
||||
printf " --help, -h \n"
|
||||
exit 0;
|
||||
elif [ "${ARGI//[^0-9]/}" = "$ARGI" -a "$TIME_WARP" = 1 ]; then
|
||||
TIME_WARP=$ARGI
|
||||
else
|
||||
printf "Bad Argument: %s \n" $ARGI
|
||||
exit 0
|
||||
fi
|
||||
done
|
||||
|
||||
|
||||
#-------------------------------------------------------
|
||||
# Part 2: Launch the processes
|
||||
#-------------------------------------------------------
|
||||
printf "Launching the %s MOOS Community (WARP=%s) \n" $COMMUNITY $TIME_WARP
|
||||
pAntler $COMMUNITY.moos --MOOSTimeWarp=$TIME_WARP >& /dev/null &
|
||||
|
||||
uMAC -t $COMMUNITY.moos
|
||||
|
||||
printf "Killing all processes ... \n"
|
||||
kill %1
|
||||
mykill
|
||||
printf "Done killing processes. \n"
|
||||
|
||||
54
missions/xrelay/xrelay.moos
Normal file
54
missions/xrelay/xrelay.moos
Normal file
@@ -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
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user