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迁移pi上的feture-mc分支

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zjk
2023-11-20 09:58:12 +08:00
parent 036fbdbc9f
commit 1004233e20
26 changed files with 3173 additions and 618 deletions
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34
launch/launch.moos
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@@ -15,6 +15,19 @@ LatOrigin = 43.825300
LongOrigin = -70.330400
AltOrigin = 0
VehicleName = lauv-150
LogEnable = false
LogDir = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/log/
AuvDataLog = auvData.txt
MissionHistoryLog = missionHistory.txt
ClientCommandLog = clientCommand.txt
FaultLog = faultLog.txt
planConfigPath = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/PlanConfigure.json
llaOriginPath = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/Origin.json
//------------------------------------------
// Antler configuration block
ProcessConfig = ANTLER
@@ -27,18 +40,18 @@ ProcessConfig = ANTLER
Run = uProcessWatch @ NewConsole = false
Run = pRealm @ NewConsole = false
Run = pShare @ NewConsole = false
//Run = pMarineViewer @ NewConsole = false
//Run = pLogger @ NewConsole = false
Run = pMarineViewer @ NewConsole = false
//===========Our define process====================
Run = pBoardSupportComm @ NewConsole = false
Run = pTaskManger @ NewConsole = false
Run = pMotionControler @ NewConsole = false
//Run = pSurfaceSupportComm @ NewConsole = false
Run = pSurfaceSupportComm @ NewConsole = false
Run = pDataManagement @ NewConsole = false
//===============For test process===================
Run = pEmulator @ NewConsole = false
//Run = uSimMarine @ NewConsole = false
//Run = pMarinePID @ NewConsole = false
Run = pFaultHandle @ NewConsole = false
}
ProcessConfig = pMarineViewer
@@ -195,9 +208,6 @@ ProcessConfig = pTaskManger
{
AppTick = 8
CommsTick = 8
planConfigPath = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/PlanConfigure.json
//planConfigPath = /home/ben/project/moos-ivp-pi/PlanConfigure.json
}
ProcessConfig = pBoardSupportComm
@@ -259,13 +269,13 @@ ProcessConfig = pMotionControler
cheak_stalensee = true
delta_freqency = 5
config_file = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/src/pMotionControler/ControlParam.json
//config_file = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/src/pMotionControler/ControlParam.json
config_file = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/ControlParam.json
}
ProcessConfig = pEmulator
{
AppTick = 100
AppTick = 5
CommsTick = 5
matlab_host = 10.25.0.137
matlab_port = 8085
@@ -304,3 +314,9 @@ ProcessConfig = pLogger
WildCardOmitPattern = DB_RWSUMMARY
WildCardExclusionLog = true
}
ProcessConfig = pFaultHandle
{
AppTick = 4
CommsTick = 4
}