删除了无用文件,增加了bin目录
This commit is contained in:
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bin/placeholder
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bin/placeholder
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#--------------------------------------------------------
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# The CMakeLists.txt for: pTaskManger
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# Author(s): zjk
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#--------------------------------------------------------
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FILE(GLOB SRC *.cpp)
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#include_directories(/usr/local/include/jsoncpp)
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#link_directories(/usr/local/lib/)
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include_directories(/usr/include/jsoncpp/)
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link_directories(/usr/local/lib/)
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ADD_EXECUTABLE(pTaskManger ${SRC})
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TARGET_LINK_LIBRARIES(pTaskManger
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${MOOS_LIBRARIES}
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mbutil
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m
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pthread
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jsoncpp)
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File diff suppressed because it is too large
Load Diff
@@ -1,151 +0,0 @@
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/*
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* @Author: 1553836110 1553836110@qq.com
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* @Date: 2023-09-28 15:45:17
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* @LastEditors: zjk 1553836110@qq.com
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* @LastEditTime: 2023-11-15 09:31:32
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* @FilePath: /moos-ivp-pi/src/pTaskManger/TaskManger.h
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* @Description:
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*
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* Copyright (c) 2023 by ${git_name_email}, All Rights Reserved.
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*/
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/************************************************************/
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/* NAME: zjk */
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/* ORGN: MIT */
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/* FILE: TaskManger.h */
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/* DATE: */
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/************************************************************/
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#ifndef TaskManger_HEADER
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#define TaskManger_HEADER
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#include "MOOS/libMOOS/MOOSLib.h"
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#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
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#include <queue>
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#include <list>
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#include "json/json.h"
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#include "VarDataPair.h"
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using namespace std;
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enum TaskType{WAYPOINTS, CONSTDEPTH, CONSTSPEED, CONSTHEADING, WAYPOLYGON, NOTYPE};
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enum Status{FAULT=0, UNRUN=1, MANUAL=2 ,RUN=3, CONFIG=5};
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// class TaskManger : public CMOOSApp
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class TaskManger : public AppCastingMOOSApp
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{
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public:
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TaskManger();
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virtual ~TaskManger();
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bool OnNewMail(MOOSMSG_LIST &NewMail);
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bool Iterate();
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bool OnConnectToServer();
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bool OnStartUp();
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void RegisterVariables();
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bool buildReport();
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void postFaultNumber(int n);
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bool setSpeed(double speed);
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bool setMaxDepth(string depth);
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bool setWpt(std::string wpt, string speed, string depth);
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bool setWayPol(string polygon, string speed, string depth);
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bool setTaskTimer(string timerCount);
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bool setSafetyRules(string maxTime, string maxDepth, string minAltitude, string polygon);
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bool setWayConfig(string lead, string lead_damper, string capture_line, string capture_radius,string slip_radius);
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bool sendNode(const string current_node, list<string> &nodeList);
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bool getWord(const string str, int ct, string &word);
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string getSpeed(const string node);
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string getDepth(const string node);
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string getWayPoint(const string node);
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string getWayPolygon(const list<string> nodeList);
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string getNodeName(const string node);
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string getNode(list<string> &nodelist);
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string getTimeCount();
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string getMaxDepth();
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TaskType getTaskTpye(const string node);
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int readTaskFile(string taskName);
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int readSafetyRules(string fileName);
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int readWayConfig(string fileName);
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void postReportToSSM();
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inline void clearHelmFlag(){Notify("HELM_MAP_CLEAR",0.0);}
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inline void taskStart();
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inline void taskFinish();
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void FaultFlagClear();
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inline void InitConfig();
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//内部消息发布
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const string UPDATE_WPT = "WPT_UPDATE";
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const string UPDATE_SPD = "SPEED_UPDATE";
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const string UPDATE_DEP = "DEPTH_UPDATE";
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const string UPDATE_TIMER = "TIMER_UPDATES";
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const string UPDATE_MAXDEP = "MAXDEEP_UPDATES";
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const string UPDATE_OPREGION = "OPREGION_UPDATES";
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const string UPDATE_RESETFAULT = "OPREGION_RESET";
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//内部消息订阅
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const string MSG_WPTFLAG = "CurrentPointComplete";
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const string MSG_ENDFLAG = "END_WayPoint";
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const string MSG_START = "START";
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const string MSG_SENDSAFTRULES = "SendSaftRules";
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const string MSG_FALUT = "TaskFault";
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const string MSG_RUN = "RUN";
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const string MSG_CLEARFAULT = "ClearFalut";
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//交互消息
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const string MSG_IN_SSM = "uMission_action_cmd";
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const string MSG_TO_SSM = "uMission_task_fb";
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const string MSG_TO_FH = "uMission_fault_fb";
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const string MSG_IN_MAN = "uManual_enable_cmd"; //TODO: 增加手操状态
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const string MSG_FAULT_LEV2 = "uFH_errorMsg2_fb";
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const string MSG_FALUT_LEV3 = "uFH_errorMsg3_fb";
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protected:
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// 任务参数
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string node_wpt;
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string node_depth;
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string node_speed;
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// 安全规则
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string maxDepth;
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string maxTime;
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string safePolygon;
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string minAltitude="0";
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// 路径参数
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string lead;
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string lead_damper;
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string lead_to_start;
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string capture_line;
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string capture_radius;
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string slip_radius;
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string efficiency_measure;
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string faultMsg;
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TaskType nodeType;
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list<string> nodeList;
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private:
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bool current_node_complete = false;
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bool current_pol_complete = false;
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bool start=false;
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bool time_out=false;
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int st=10;
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int faultNumber = 0;
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int readTask = 0;
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string msg;
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string current_node;
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Status state = UNRUN;
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Json::Value RepList;
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Json::StreamWriterBuilder RepJsBuilder;
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//任务文件参数
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//TODO:动态配置任务文件等参数
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string planConfigPath;
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vector<string> taskList;
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int taskCount;
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string taskName;
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//发送节点信息
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Json::Value node_rpt;
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};
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#endif
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@@ -1,65 +0,0 @@
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/*
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* @Author: zjk 1553836110@qq.com
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* @Date: 2023-09-28 15:45:17
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* @LastEditors: zjk 1553836110@qq.com
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* @LastEditTime: 2023-10-24 15:13:22
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* @FilePath: /moos-ivp-extend/src/pTaskManger/TaskMangerMain.cpp
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* @Description:
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*
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* Copyright (c) 2023 by ${git_name_email}, All Rights Reserved.
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*/
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/************************************************************/
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/* NAME: zjk */
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/* ORGN: MIT */
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/* FILE: TaskMangerMain.cpp */
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/* DATE: */
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/************************************************************/
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#include <string>
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#include "TaskManger.h"
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#include "ColorParse.h"
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#include "MBUtils.h"
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using namespace std;
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int main(int argc, char *argv[])
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{
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string mission_file;
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string run_command = argv[0];
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for(int i=1; i<argc; i++) {
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string argi = argv[i];
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if((argi=="-v") || (argi=="--version") || (argi=="-version"))
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// showReleaseInfoAndExit();
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cout << " Version : 0.01" << endl;
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else if((argi=="-e") || (argi=="--example") || (argi=="-example"))
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// showExampleConfigAndExit();
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cout << " example : NULL" << endl;
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else if((argi=="-h") || (argi == "--help") || (argi=="-help"))
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// showHelpAndExit();
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cout << " Low leave Control for UUV " << endl;
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else if((argi=="-i") || (argi == "--interface"))
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// showInterfaceAndExit();
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cout << " UUV Motion Control " << endl;
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else if(strEnds(argi, ".moos") || strEnds(argi, ".moos++"))
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mission_file = argv[i];
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else if(strBegins(argi, "--alias="))
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run_command = argi.substr(8);
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else if(i == 2)
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run_command = argi;
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}
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if(mission_file == "")
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// showHelpAndExit();
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cout << termColor("green");
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cout << "pTaskManger launching as " << run_command << endl;
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cout << termColor() << endl;
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TaskManger TaskMangerApp;
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TaskMangerApp.Run(run_command.c_str(), mission_file.c_str(), argc, argv);
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return(0);
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}
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@@ -1,181 +0,0 @@
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//-------- FILE: alpha.bhv -------------
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initialize RUN = false
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initialize TaskNum=t1
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initialize SendTask=false
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//--------------模式判断------------------------
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set MODE = ACTIVE{
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RUN=true
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} INACTIVE
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set MODE = T1{
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MODE=ACTIVE
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TaskNum = t1
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}
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//----------路径点任务----------------------------
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Behavior = BHV_Waypoint
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{
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name = waypt_survey
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pwt = 100 //优先权重
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condition = MODE==T1
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//endflag = START=false
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endflag = END_WayPoint=true
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configflag = CRUISE_SPD = $[SPEED]
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//configflag = OSPOS = $[OSX],$[OSY]
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activeflag = INFO=$[OWNSHIP]
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activeflag = INFO=$[BHVNAME]
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activeflag = INFO=$[BHVTYPE]
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//cycleflag = CINFO=$[OSX],$[OSY]
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wptflag = CurrentPointComplete=true
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wptflag = PREV=$(PX),$(PY)
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wptflag = NEXT=$(NX),$(NY)
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wptflag = TEST=$(X),$(Y)
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wptflag = OSPOS=$(OSX),$(OSY)
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//wptflag_on_start = true
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updates = WPT_UPDATE
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//perpetual = true
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templating = spawn
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// speed_alt = 1.2
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//use_alt_speed = true
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lead = 8
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lead_damper = 1
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lead_to_start = false
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speed = 1 // 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
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order = normal
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//repeat = 3
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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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//--------------定深任务------------------
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Behavior=BHV_ConstantDepth
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{
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name = const_depth
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pwt = 100
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//condition = DEPLOY = true
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condition = MODE==T1
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duration = no-time-limit
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updates = DEPTH_UPDATE
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depth = 0
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}
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//--------------定向任务--------------------
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Behavior=BHV_ConstantHeading
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{
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name = const_heading
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pwt = 100
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//condition = START_TURN = true
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//condition = DEPLOY = true
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condition = MODE==T3
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perpetual = true
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activeflag = TURN = started
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//endflag = TURN = done
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//endflag = RETURN = true
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//endflag = START_TURN = false
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endflag = START=false
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heading = 225
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complete_thresh = 5
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duration = no-time-limit
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}
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//--------------定速任务--------------------
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Behavior=BHV_ConstantSpeed
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{
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name = const_speed
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pwt = 1000
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condition = MODE==T1
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perpetual = true
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updates = SPEED_UPDATE
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//endflag = START=false
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speed = 5
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duration = no-time-limit
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//peakwidth = 0.5
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//basewidth = 0.5
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}
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//----------------安全模式-----------------------
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//----------------计时器---------------------
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Behavior = BHV_Timer
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{
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name = mtime
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condition = MODE==T1
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pwt = 100
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templating = spawn
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//duration_status = MSTATUS
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//duration = 10
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endflag = TIME_OUT=true
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updates = TIMER_UPDATES
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//perpetual = true
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}
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//-------------最大深度限制--------------------------
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Behavior = BHV_MaxDepth
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{
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name = maxdepth
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pwt = 200
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condition = MODE==ACTIVE
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updates = MAXDEEP_UPDATES
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max_depth = 20
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tolerance = 0
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duration = no-time-limit
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}
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//--------------安全区域设置-----------------------
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Behavior = BHV_OpRegion
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{
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// General Behavior Parameters
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// ---------------------------
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name = op_region // example
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pwt = 300 // default
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condition = MODE==TN
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updates = OPREGION_UPDATES // example
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// Parameters specific to this behavior
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// ------------------------------------
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max_time = 20 // default (seconds)
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max_depth = 25 // default (meters)
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min_altitude = 0 // default (meters)
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reset_var = OPREGION_RESET // example
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trigger_entry_time = 1 // default (seconds)
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trigger_exit_time = 0.5 // default (seconds)
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polygon = pts={-80,-00:-30,-175:150,-100:95,25}
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breached_altitude_flag = TaskFault = AltitudeOut
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breached_depth_flag = TaskFault = DepthOut
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breached_poly_flag = TaskFault = RegionOut
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breached_time_flag = TaskFault = TimeOut
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visual_hints = vertex_color = brown // default
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visual_hints = vertex_size = 3 // default
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visual_hints = edge_color = aqua // default
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visual_hints = edge_size = 1 // default
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}
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@@ -1,269 +0,0 @@
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//-------------------------------------------------
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// NAME: M. Benjamin, MIT CSAIL
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// FILE: alpha.moos
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||||
//-------------------------------------------------
|
||||
|
||||
ServerHost = localhost
|
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ServerPort = 9000
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Community = pi
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MOOSTimeWarp = 1
|
||||
|
||||
// Forest Lake
|
||||
LatOrigin = 43.825300
|
||||
LongOrigin = -70.330400
|
||||
|
||||
// MIT Sailing Pavilion (use this one)
|
||||
// LatOrigin = 42.358456
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||||
// LongOrigin = -71.087589
|
||||
|
||||
//------------------------------------------
|
||||
// Antler configuration block
|
||||
ProcessConfig = ANTLER
|
||||
{
|
||||
MSBetweenLaunches = 200
|
||||
|
||||
Run = MOOSDB @ NewConsole = false
|
||||
//Run = pLogger @ NewConsole = false
|
||||
Run = uSimMarineV22 @ NewConsole = false
|
||||
Run = pMarinePIDV22 @ NewConsole = false
|
||||
Run = pHelmIvP @ NewConsole = false
|
||||
Run = pMarineViewer @ NewConsole = false
|
||||
Run = uProcessWatch @ NewConsole = false
|
||||
Run = pNodeReporter @ NewConsole = false
|
||||
Run = pRealm @ NewConsole = false
|
||||
Run = pTaskManger @ NewConsole = false
|
||||
//Run = uTimerScript @ NewConsole = false
|
||||
}
|
||||
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||||
//------------------------------------------
|
||||
// pLogger config block
|
||||
ProcessConfig = pTaskManger
|
||||
{
|
||||
AppTick = 8
|
||||
CommsTick = 8
|
||||
|
||||
planConfigPath = /home/zjk/Desktop/project/moos-ivp-extend/PlanConfigure.json
|
||||
}
|
||||
ProcessConfig = pLogger
|
||||
{
|
||||
AppTick = 8
|
||||
CommsTick = 8
|
||||
|
||||
AsyncLog = true
|
||||
|
||||
// For variables that are published in a bundle on their first post,
|
||||
// explicitly declare their logging request
|
||||
//Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC
|
||||
//Log = REPORT @ 0 NOSYNC
|
||||
//Log = BHV_SETTINGS @ 0 NOSYNC
|
||||
Log = OPREGION_RESET @ 0 NOSYNC
|
||||
|
||||
LogAuxSrc = true
|
||||
WildCardLogging = true
|
||||
WildCardOmitPattern = *_STATUS
|
||||
WildCardOmitPattern = DB_VARSUMMARY
|
||||
WildCardOmitPattern = DB_RWSUMMARY
|
||||
WildCardExclusionLog = true
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// uProcessWatch config block
|
||||
|
||||
ProcessConfig = uProcessWatch
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
watch_all = true
|
||||
nowatch = uPokeDB*
|
||||
nowatch = uQueryDB*
|
||||
nowatch = uXMS*
|
||||
nowatch = uMAC*
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// uSimMarineV22 config block
|
||||
|
||||
ProcessConfig = uSimMarineV22
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
start_pos = x=0, y=-20, heading=180, speed=5
|
||||
|
||||
prefix = NAV
|
||||
|
||||
turn_rate = 40
|
||||
thrust_map = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5
|
||||
//thrust_reflect = true
|
||||
|
||||
buoyancy_rate = 0.075
|
||||
max_depth_rate = 5
|
||||
max_depth_rate_speed = 2.0
|
||||
default_water_depth = 400
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pHelmIvP config block
|
||||
|
||||
ProcessConfig = pHelmIvP
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
behaviors = alpha.bhv
|
||||
domain = course:0:359:360
|
||||
domain = speed:0:10:101
|
||||
domain = depth:0:100:101
|
||||
|
||||
park_on_allstop = false
|
||||
//park_on_allstop = true
|
||||
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pMarinePID config block
|
||||
|
||||
ProcessConfig = pMarinePIDV22
|
||||
{
|
||||
AppTick = 20
|
||||
CommsTick = 20
|
||||
|
||||
verbose = true
|
||||
depth_control = true
|
||||
|
||||
// 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 = 0.1
|
||||
speed_pid_integral_limit = 0.07
|
||||
|
||||
maxpitch = 15
|
||||
maxelevator = 13
|
||||
|
||||
pitch_pid_kp = 1.5
|
||||
pitch_pid_kd = 0
|
||||
pitch_pid_ki = 1.0
|
||||
pitch_pid_integral_limit = 0
|
||||
|
||||
z_to_pitch_pid_kp = 0.12
|
||||
z_to_pitch_pid_kd = 0
|
||||
z_to_pitch_pid_ki = 0.004
|
||||
z_to_pitch_pid_integral_limit = 0.05
|
||||
|
||||
|
||||
//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 = 0
|
||||
simulation = true
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pMarineViewer config block
|
||||
|
||||
ProcessConfig = pMarineViewer
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
tiff_file = forrest19.tif
|
||||
//tiff_file = MIT_SP.tif
|
||||
vehicles_name_mode = names+depth //+shortmode
|
||||
|
||||
|
||||
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
|
||||
|
||||
// Appcast configuration
|
||||
appcast_height = 75
|
||||
appcast_width = 30
|
||||
appcast_viewable = true
|
||||
appcast_color_scheme = indigo
|
||||
nodes_font_size = xlarge
|
||||
procs_font_size = xlarge
|
||||
appcast_font_size = large
|
||||
|
||||
// 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 = START # START=true
|
||||
button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"}
|
||||
//button_one = MOOS_MANUAL_OVERRIDE=false
|
||||
button_two = STOP # START=false
|
||||
//button_two = MOOS_MANUAL_OVERRIDE=true
|
||||
button_three = FaultClear # ClearFalut = true
|
||||
button_four = SendSecurityZone # SendSaftRules = true
|
||||
|
||||
|
||||
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
|
||||
//更改显示形状为uuv
|
||||
platform_type = UUV
|
||||
platform_color = red
|
||||
platform_length = 4
|
||||
}
|
||||
|
||||
ProcessConfig = uTimerScript
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
condition = DEPLOY = true
|
||||
randvar = varname = RND_DEPTH, min=20, max=80, key=at_reset
|
||||
event = var = DEPTH_UPDATE, val=depth=$[RND_DEPTH], time=120
|
||||
reset_max = nolimit reset_time = all-posted
|
||||
}
|
||||
@@ -1,37 +0,0 @@
|
||||
#!/bin/bash
|
||||
#--------------------------------------------------------------
|
||||
# Script: clean.sh
|
||||
# Author: Michael Benjamin
|
||||
# Date: June 2020
|
||||
#----------------------------------------------------------
|
||||
# Part 1: Declare global var defaults
|
||||
#----------------------------------------------------------
|
||||
VERBOSE=""
|
||||
|
||||
#-------------------------------------------------------
|
||||
# Part 2: Check for and handle command-line arguments
|
||||
#-------------------------------------------------------
|
||||
for ARGI; do
|
||||
if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then
|
||||
echo "clean.sh [SWITCHES] "
|
||||
echo " --verbose "
|
||||
echo " --help, -h "
|
||||
exit 0;
|
||||
elif [ "${ARGI}" = "--verbose" -o "${ARGI}" = "-v" ] ; then
|
||||
VERBOSE="-v"
|
||||
else
|
||||
echo "clean.sh: Bad Arg:" $ARGI
|
||||
exit 1
|
||||
fi
|
||||
done
|
||||
|
||||
#-------------------------------------------------------
|
||||
# Part 2: Do the cleaning!
|
||||
#-------------------------------------------------------
|
||||
if [ "${VERBOSE}" = "-v" ]; then
|
||||
echo "Cleaning: $PWD"
|
||||
fi
|
||||
rm -rf $VERBOSE MOOSLog_* XLOG_* LOG_*
|
||||
rm -f $VERBOSE *~ *.moos++
|
||||
rm -f $VERBOSE targ_*
|
||||
rm -f $VERBOSE .LastOpenedMOOSLogDirectory
|
||||
@@ -1,39 +0,0 @@
|
||||
#!/bin/bash -e
|
||||
#----------------------------------------------------------
|
||||
# Script: launch.sh
|
||||
# Author: Michael Benjamin
|
||||
# LastEd: May 20th 2019
|
||||
#----------------------------------------------------------
|
||||
# Part 1: Set Exit actions and declare global var defaults
|
||||
#----------------------------------------------------------
|
||||
TIME_WARP=1
|
||||
COMMUNITY="alpha"
|
||||
GUI="yes"
|
||||
|
||||
#----------------------------------------------------------
|
||||
# Part 2: Check for and handle command-line arguments
|
||||
#----------------------------------------------------------
|
||||
for ARGI; do
|
||||
if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then
|
||||
echo "launch.sh [SWITCHES] [time_warp] "
|
||||
echo " --help, -h Show this help message "
|
||||
exit 0;
|
||||
elif [ "${ARGI}" = "--nogui" ] ; then
|
||||
GUI="no"
|
||||
elif [ "${ARGI//[^0-9]/}" = "$ARGI" -a "$TIME_WARP" = 1 ]; then
|
||||
TIME_WARP=$ARGI
|
||||
else
|
||||
echo "launch.sh Bad arg:" $ARGI " Exiting with code: 1"
|
||||
exit 1
|
||||
fi
|
||||
done
|
||||
|
||||
|
||||
#----------------------------------------------------------
|
||||
# Part 3: Launch the processes
|
||||
#----------------------------------------------------------
|
||||
echo "Launching $COMMUNITY MOOS Community with WARP:" $TIME_WARP
|
||||
pAntler $COMMUNITY.moos --MOOSTimeWarp=$TIME_WARP >& /dev/null &
|
||||
|
||||
uMAC -t $COMMUNITY.moos
|
||||
kill -- -$$
|
||||
@@ -1,12 +0,0 @@
|
||||
// MOOS file
|
||||
|
||||
ServerHost = localhost
|
||||
ServerPort = 9000
|
||||
|
||||
ProcessConfig = pTaskManger
|
||||
{
|
||||
AppTick = 10
|
||||
CommsTick = 10
|
||||
planConfigPath = /home/zjk/Desktop/project/moos-ivp-extend/PlanConfigure.json
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user