diff --git a/bin/placeholder b/bin/placeholder
new file mode 100644
index 0000000..e69de29
diff --git a/src/pTaskManger/CMakeLists.txt b/src/pTaskManger/CMakeLists.txt
deleted file mode 100644
index 755d9ae..0000000
--- a/src/pTaskManger/CMakeLists.txt
+++ /dev/null
@@ -1,27 +0,0 @@
-#--------------------------------------------------------
-# The CMakeLists.txt for:                       pTaskManger
-# Author(s):                              zjk
-#--------------------------------------------------------
-
-
-FILE(GLOB SRC *.cpp)
-
-
-#include_directories(/usr/local/include/jsoncpp)
-#link_directories(/usr/local/lib/)
-
-include_directories(/usr/include/jsoncpp/)
-link_directories(/usr/local/lib/)
-
-
-ADD_EXECUTABLE(pTaskManger ${SRC})
-
-
-
-TARGET_LINK_LIBRARIES(pTaskManger
-   ${MOOS_LIBRARIES}
-   mbutil
-   m
-   pthread
-   jsoncpp)
-
diff --git a/src/pTaskManger/TaskManger.cpp b/src/pTaskManger/TaskManger.cpp
deleted file mode 100644
index c988fd2..0000000
--- a/src/pTaskManger/TaskManger.cpp
+++ /dev/null
@@ -1,1032 +0,0 @@
-
-/************************************************************/
-/*    NAME: zjk                                              */
-/*    ORGN: MIT                                             */
-/*    FILE: TaskManger.cpp                                        */
-/*    DATE:                                                 */
-/************************************************************/
-//TODO: 增加故障处理
-#include <list>
-#include <iterator>
-#include "MBUtils.h"
-#include "TaskManger.h"
-
-using namespace std;
-
-#define DEBUG
-
-
-//---------------------------------------------------------
-// Constructor
-
-TaskManger::TaskManger()
-{
-
-  cout << "Task Manger process staring ... " << endl;
-}
-
-//---------------------------------------------------------
-// Destructor
-
-TaskManger::~TaskManger()
-{
-  Notify("RUN","false");
-  Notify("MOOS_MANUAL_OVERRIDE","true");
-}
-
-//---------------------------------------------------------
-// Procedure: OnNewMail
-
-bool TaskManger::OnNewMail(MOOSMSG_LIST &NewMail)
-{
-  AppCastingMOOSApp::OnNewMail(NewMail);
-  MOOSMSG_LIST::iterator p;
-  for(p=NewMail.begin(); p!=NewMail.end(); p++) 
-  {
-    CMOOSMsg &msg   = *p;
-    string msg_name = msg.GetName();
-    string msg_str  =  msg.GetString();
-    double msg_dval = msg.GetDouble();
-    bool msg_bval   = msg.GetBinaryData();
-    // 内部消息
-    if(msg_name == MSG_ENDFLAG)
-    {
-      if(msg_str == "true")
-        current_node_complete = true;
-      else 
-        current_node_complete = false;
-    }
-
-    if(msg_name == MSG_WPTFLAG)
-    {
-      if(msg_str == "true")
-        current_pol_complete = true;
-      else
-        current_pol_complete = false;
-      clearHelmFlag();
-    }
-
-    if(msg_name == MSG_FALUT)
-    {
-      state = FAULT;
-      faultMsg = msg_str;
-      if(faultMsg == "AltitudeOut")
-        faultNumber = 4;
-      else if(faultMsg == "DepthOut")
-        faultNumber = 1;
-      else if(faultMsg == "RegionOut")
-        faultNumber = 2;
-      else if(faultMsg == "TimeOut")
-        faultNumber = 2;
-      else 
-        faultNumber = 99;
-    }
-
-    if(msg_name == MSG_SENDSAFTRULES && msg_str == "true") // 暂时没用配置功能
-    {
-      state = CONFIG;
-      st = 40;
-    }
-    if(msg_name ==  MSG_CLEARFAULT)
-    {
-      st = 39;
-      state = FAULT;
-    }
-    // 交互消息
-    if(msg_name == MSG_IN_SSM)
-    {
-      Json::Value j;
-      Json::Reader a;
-      a.parse(msg_str,j);
-      RepList["FormSSM"] = j;
-      if(j["action"].asString() == "start")
-      {
-        taskName = j["taskName"].asString();
-        state = RUN;
-        cout << "Task Manager Status is Run!!!" << endl;
-        start = true;
-        st = 10;
-      }
-      else if (j["action"].asString() == "stop")
-      {
-        taskName = "";
-        state = UNRUN;
-        cout << "Task Manager Status is UnRun!!!" << endl;
-        st = 20;
-      }
-      else
-      {
-        RepList["RunWaring"] = "form SSM have unhandle action : " + j["action"].asString();
-      }
-    }
-    
-    if((msg_name == MSG_FAULT_LEV2) || (msg_name == MSG_FALUT_LEV3))
-    {
-      Json::Value j;
-      Json::Reader a;
-      a.parse(msg_str,j);
-      int falut_num = j["FaultLevel"].asInt();
-      if(falut_num != 0)
-      {
-        faultNumber = 20;
-        state = FAULT;
-      }
-    }
-
-
-    if(msg_name == MSG_IN_MAN)
-    {
-      if(msg_dval == 1)
-        state = MANUAL;
-      else
-        state = UNRUN;
-    }
-  
-  }
-  return(true);
-}
-
-//---------------------------------------------------------
-// Procedure: OnConnectToServer
-
-bool TaskManger::OnConnectToServer()
-{
-   Notify(MSG_ENDFLAG,"false");
-   Notify(MSG_WPTFLAG,"false");
-  //  Notify(MSG_START,"false");
-   Notify(MSG_RUN,"false");
-   RegisterVariables();
-   InitConfig();
-   return(true);
-}
-
-//---------------------------------------------------------
-// Procedure: Iterate()
-bool TaskManger::Iterate()
-{
-   // happens AppTick times per second
-  AppCastingMOOSApp::Iterate();
-  switch (state)
-  {
-  case RUN: //状态0～10
-  {
-    switch(st)
-    {
-      case 0://发送任务开始、超时和第一个节点
-      {
-        
-        //1. send first node
-        current_node = getNode(nodeList);
-        if(current_node == "")
-          st = 9;
-        else
-        {
-          sendNode(current_node, nodeList);
-          st = 1;
-        }
-        //2. send start
-        taskStart();
-        current_node_complete = false;
-        current_pol_complete = false;
-        break;
-      }
-      case 1://等待节点完成信息
-      {
-        if(current_node_complete || current_pol_complete)
-        {
-          cout << "Current WayPoint Node complete!" << endl;
-          if(current_node == "")
-            st = 9;
-          else
-            st = 2;
-        }
-        break;
-      }
-      case 2://读取当前节点信息
-      {
-        current_node = getNode(nodeList);
-        if(current_node != "")
-          st = 3;
-        else
-          st = 1;
-        break;
-      }
-      case 3://发送任务节点
-      {
-        sendNode(current_node, nodeList);
-        current_node_complete = false;
-        current_pol_complete = false;
-        st = 1;
-        break;
-      }
-      case 9://task complete
-      {
-        taskFinish();
-        st = 10;
-        start = false;
-        break; 
-      }
-      case 10://等待任务开始
-      {
-        if(start)
-          st = 11;
-        break;
-      }
-      case 11://读取任务文件
-      {
-        faultMsg = "";
-        readTask = readTaskFile(taskName);
-        if( readTask != 0)
-        {
-          state = FAULT;
-          faultNumber = 10 + readTask;
-          st =30;
-          faultMsg = "TaskFileError : " + intToString(readTask);
-        }
-        st = 0;
-        break;
-      }
-      default:
-      {
-        st = 10;
-        //cout << "State reset ..." << endl;
-        //taskFinish();
-        break;
-      }
-    }
-    break;
-  }
-  case UNRUN: //状态20～29
-  {
-    switch(st)
-    {
-      case 20://进入UNRUN，初始化状态变量
-      {
-        current_node_complete = false;
-        current_pol_complete = false;
-        current_node="";
-        start = false;
-        Notify(MSG_ENDFLAG,"false");
-        Notify(MSG_WPTFLAG,"false");
-        Notify(MSG_RUN,"false");
-        Notify("MOOS_MANUAL_OVERRIDE","true");
-        cout << "Wating task start......" << endl;
-        st = 21;
-        break;
-      }
-      case 21://等待任务开始
-      {
-        break;
-      }
-      default:
-      {
-        st = 20;
-        break;
-      }
-    }
-    break;
-  }
-  case FAULT: //状态30～39
-  {
-    switch(st)
-    {
-      case 30: //判断故障信息
-      {
-        if(faultNumber>0 && faultNumber<10) 
-          st = 31;
-        else if(faultNumber>10 && faultNumber<20)
-          st = 32;
-        else if(faultNumber==20)
-          st = 33;
-        else
-          st = 38;
-        break;
-      }
-      case 31: //任务错误
-      {
-        postFaultNumber(faultNumber);
-        state = UNRUN;
-        break;
-      }
-      case 32: //任务文本错误
-      {
-        postFaultNumber(faultNumber);
-        state = UNRUN;
-        break;
-      }
-      case 20: //接收到来自其他组件的故障
-      {
-        RepList["FALT"] = "Reresive fault from others";
-        current_node_complete = false;
-        current_pol_complete = false;
-        current_node="";
-        start = false;
-        Notify(MSG_ENDFLAG,"false");
-        Notify(MSG_WPTFLAG,"false");
-        Notify(MSG_RUN,"false");
-        Notify("MOOS_MANUAL_OVERRIDE","true");
-        cout << "Wating task start......" << endl;
-        st = 21;
-      }
-      case 38: //未知故障
-      {
-        postFaultNumber(99);
-        break;
-      }
-      case 39:
-      {
-        FaultFlagClear();
-        state = UNRUN;
-        break;
-      }
-      default:
-      {
-        st = 30;
-        break;
-      }
-    }
-    break;
-  }
-  case CONFIG: //状态40～49
-  {
-    switch (st)
-    {
-      case 40: //配置安全规则
-      {
-        readSafetyRules("a");
-        setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon);
-        // setMaxDepth(maxDepth);
-        setMaxDepth("2");
-        st = 49;
-        break;
-      }
-      case 41: //路径参数配置
-      {
-        readWayConfig("a");
-        setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius);
-        st = 49;
-        //setWayConfig();
-      }
-      case 49: //等待
-      {
-        state = UNRUN;
-        break; 
-      }
-      default:
-      {
-        st = 49;
-        break;
-      } 
-    }
-
-    break;
-  }
-  case MANUAL: // 手操状态
-  {
-    switch (st)
-    {
-    case 50: // 清除变量
-      current_node_complete = false;
-      current_pol_complete = false;
-      current_node="";
-      start = false;
-      Notify(MSG_ENDFLAG,"false");
-      Notify(MSG_WPTFLAG,"false");
-      Notify(MSG_RUN,"false");
-      Notify("MOOS_MANUAL_OVERRIDE","true");
-      cout << "Wating task start......" << endl;
-      st = 51;
-      break;
-    case 51: // 等待
-      break;
-    default:
-      st = 50;
-      break;
-    }
-    break;
-  }
-  default:
-  {
-    st = 30;
-    break;
-  }
-  }
-  postReportToSSM();
-  AppCastingMOOSApp::PostReport();
-  return(true);
-}
-
-//---------------------------------------------------------
-// Procedure: OnStartUp()
-// happens before connection is open
-
-bool TaskManger::OnStartUp()
-{
-  AppCastingMOOSApp::OnStartUp();
-  list<string> sParams;                                                                                         
-  if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) 
-  {         
-    list<string>::iterator p;                                           
-    for(p=sParams.begin(); p!=sParams.end(); p++) {                 
-      string original_line = *p;                                    
-      string line = *p;                                    
-      string param = stripBlankEnds(toupper(biteString(line, '=')));  
-      string value = stripBlankEnds(line);
-      
-      if(param == "PLANCONFIGPATH")
-      {
-        planConfigPath = value;
-        RepList["CueenPath"] = planConfigPath;
-      }                           
-    }
-  } 
-  if(planConfigPath == "")
-    reportConfigWarning("NO TASK FILE PATH");
-  // readTaskFile("a");
-  RegisterVariables();	
-  return(true);
-}
-
-//---------------------------------------------------------
-// Procedure: RegisterVariables
-/**
- * @description: 
- * @param {double} depth
- * @return {*}
- */
-bool TaskManger::setMaxDepth(string depth)
-{
-  string msgContent = "";
-  msgContent = "max_depth=";
-  msgContent += depth;
-  Notify(UPDATE_MAXDEP, msgContent);
-  cout << "set max depth is " + depth << "m!" << endl;
-  return true;
-}
-bool TaskManger::setWayPol(string polygon, string speed, string depth)
-{
-  string msgContent="";
-  if(polygon=="#")
-  {
-    msgContent = "speed=";
-    msgContent += speed;
-    Notify(UPDATE_SPD, msgContent);
-
-    msgContent = "depth=" + depth;
-    Notify(UPDATE_DEP, msgContent);
-  }
-  else
-  {
-    msgContent = "polygon=";
-    msgContent += polygon;
-    msgContent += "#";
-    msgContent += "speed=";
-    msgContent += speed;
-    Notify(UPDATE_WPT, msgContent);
-
-    //使用模版参数生成一个新的行为r
-    Notify(UPDATE_WPT,"name=way_track");
-    // msgContent = "polygon=";
-    // msgContent += polygon;
-    // msgContent += "#";
-    Notify(UPDATE_WPT, msgContent);
-    msgContent = "speed=";
-    msgContent += speed;
-    Notify(UPDATE_SPD, msgContent);
-
-    msgContent = "depth=" + depth;
-    Notify(UPDATE_DEP, msgContent);
-  };
-  return true;
-}
-/**
- * @description: 
- * @param {string} wpt
- * @return {*}
- */
-bool TaskManger::setWpt(std::string wpt, string speed, string depth)
-{
-  string msgContent="";
-
-  msgContent += "points=";
-  msgContent += wpt;
-  msgContent += "#";
-  msgContent += "speed=";
-  msgContent += speed;
-  // msgContent += "#";
-  Notify(UPDATE_WPT,msgContent);
-  Notify(UPDATE_WPT,"name=way_topoint");
-  
-
-  msgContent = "depth=" + depth;
-  Notify(UPDATE_DEP, msgContent);
-
-  msgContent = "speed=";
-  msgContent += speed;
-  Notify(UPDATE_SPD, msgContent);
-  
-
-  cout << "MSG is : "  << msgContent + "#depth=" << depth << endl;
-  // Notify("WPT_UPDATE", wpt);
-  return true;
-}
-
-/**
- * @description: 
- * @param {double} speed
- * @return {*}
- */
-bool TaskManger::setSpeed(double speed)
-{ 
-  Notify("SPEED_UPDATE", speed);
-  return true;
-}
-
-bool TaskManger::setTaskTimer(string timeCount)
-{
-  cout << "Set task timer is " << timeCount  << "seconds!" << endl;
-  string msgContent="";
-  msgContent += "name=taskTimer";
-  msgContent += "#";
-  msgContent += "duration=";
-  msgContent += timeCount;
-  Notify(UPDATE_TIMER,msgContent);
-}
-
-bool TaskManger::setSafetyRules(string maxTime, string maxDepth, string minAltitude, string polygon)
-{
-  string msgContent="";
-  msgContent += "max_time=";
-  msgContent += maxTime;
-  msgContent += "#";
-  msgContent += "max_depth=";
-  msgContent += maxDepth;
-  msgContent += "#";
-  msgContent += "min_altitude=";
-  msgContent += minAltitude;
-  msgContent += "#";
-  msgContent += "polygon=";
-  msgContent += polygon;
-
-  cout << " The Op_Region parm is : " << msgContent << endl;
-  Notify(UPDATE_OPREGION, msgContent);
-  return true;
-}
-bool TaskManger::setWayConfig(string lead, string lead_damper, string capture_line, string capture_radius,string slip_radius)
-{
-  string msgContent="";
-
-  msgContent = "lead=";
-  msgContent += lead;
-  msgContent += "#";
-  msgContent += "lead_damper=";
-  msgContent += lead_damper;
-  msgContent += "#";
-  msgContent += "capture_line=";
-  msgContent += capture_line;
-  msgContent += "#";
-  msgContent += "capture_radius=";
-  msgContent += capture_radius;
-  msgContent += "#";
-  msgContent += "slip_radius=";
-  msgContent += slip_radius;
-
-  Notify(UPDATE_WPT, msgContent);
-  cout << "Config waypoint parm is :" << msgContent << endl;
-}
-
-/**
- * @description: 
- * @return {*}
- */
-void TaskManger::RegisterVariables()
-{
-  AppCastingMOOSApp::RegisterVariables();
-  //内部消息订阅
-  Register(MSG_ENDFLAG, 0);
-  Register(MSG_WPTFLAG,0);
-  Register(MSG_SENDSAFTRULES,0);
-  Register(MSG_FALUT,0);
-  Register(MSG_CLEARFAULT,0);
-  //交互消息订阅
-  Register(MSG_IN_SSM,0);
-  Register(MSG_IN_MAN,0);
-  Register(MSG_FAULT_LEV2,1);
-  Register(MSG_FALUT_LEV3,1);
-}
-/**
- * @description: read task File to nodeList
- * @param {string} fileName
- * @return {*} 0 if true else >0
- */
-int  TaskManger::readTaskFile(string taskName)
-{
-  int faultNubmer = 0;
-  if(!nodeList.empty())
-    nodeList.clear();
-  ifstream ifs;
-  ifs.open(planConfigPath, ios::in);
-  Json::Reader taskConfigureReader;
-  Json::Value inputJsonValue;
-  Json::Value currentTask;
-  taskConfigureReader.parse(ifs, inputJsonValue);
-  ifs.close();
-  int taskCount = inputJsonValue.size();
-  taskList = inputJsonValue.getMemberNames(); 
-  taskCount = inputJsonValue.size();
-  //part1 ： 判断是否存在这个任务
-  if (!inputJsonValue.isMember(taskName))
-  {
-    RepList["Task in File"] = "False";
-    return faultNubmer=1;
-  }
-  else
-  {
-    //part2 : 读取任务
-    string node="";
-    currentTask = inputJsonValue[taskName];
-    if(currentTask["taskName"].asString() != taskName)
-      return faultNubmer=2;
-    
-    double currentTask_maxTime = currentTask["duration"].asDouble();
-    double repeat = currentTask["repeat"].asDouble();
-    
-    if(!currentTask["points"].isArray())
-      return faultNubmer=3;
-
-    Json::Value currentTask_Points = currentTask["points"]; 
-    int ps_cnt = currentTask_Points.size();
-    for(int i=0; i<ps_cnt; i++)
-    {
-      string node_name  = currentTask_Points[i]["name"].asString();
-      string node_x     = currentTask_Points[i]["north"].asString();
-      string node_y     = currentTask_Points[i]["east"].asString();
-      string node_depth = currentTask_Points[i]["depth"].asString();
-      string node_speed = currentTask_Points[i]["speed"].asString();
-      string node_type  = currentTask_Points[i]["type"].asString();
-
-      if(node_type == "point")
-        node_type = "@1";
-      else if(node_type == "track")
-        node_type = "@2";
-      else
-        return faultNubmer=4;
-      node = node_type;
-      node += ",";
-      node += node_x;
-      node += ",";
-      node += node_y;
-      node += ",";
-      node += node_depth;
-      node += ",";
-      node += node_speed;
-      node += ",";
-      node += node_name;
-      nodeList.push_back(node);
-    }
-  }
-  auto i = nodeList.begin();
-  cout << "-------current task node--------" << endl;
-  while (i != nodeList.end())
-  {
-    cout << *i << endl;
-    i++;
-  }
-  cout << "--------------------------------" << endl;
-  return 0;
-}
-
-int TaskManger::readSafetyRules(string fileName)
-{
-  maxDepth = "30";
-  maxTime  = "1000";
-  safePolygon = "pts={-80,-00:-30,-175:150,-100:95,25}";
-  return 0;
-}
-
-int TaskManger::readWayConfig(string filename)
-{
-  lead = "8";
-  lead_damper = "1";
-  lead_to_start = "false";
-  capture_line = "true";
-  capture_radius = "5";
-  slip_radius = "15";
-  efficiency_measure = "all";
-}
-
-/**
- * @description: get Depth form
- * @param {string} node
- * @return {*}
- */
-string TaskManger::getDepth(string node)
-{
-  string depth;
-  if(getWord(node, 3, depth))
-  {
-    // cout << "Current Node Depth is " << depth <<endl;
-    return depth;
-  }
-  else
-    cout << "Warming: read Depth Parm Filed" << endl;
-  return depth;
-}
-/**
- * @description: 
- * @param {string} node
- * @return {*}
- */
-string TaskManger::getSpeed(string node)
-{
-  string speed;
-  if(getWord(node, 4, speed))
-  {
-    // cout << "Current Node Speed is " << speed <<endl;
-    return speed;
-  }
-  else
-    cout << "Warming: read Speed Parm Filed" << endl;
-  // getWord(node, 3, depth);
-  return speed;
-}
-/**
- * @description: 
- * @param {string} node
- * @return {*}
- */
-string TaskManger::getWayPoint(string node)
-{
-  string x,y;
-  bool fr;
-  fr = getWord(node, 1, x);
-  fr &= getWord(node, 2, y);
-  if(fr)
-  {
-    // cout << "Current WayPoint is: " << x << "," << y << endl;
-    return x+","+y;
-  }
-  else
-    cout << "Warming: read WayPoint Parm Filed"  << endl;
-}
-
-string TaskManger::getWayPolygon(const list<string> nodeList)
-{
-  auto i = nodeList.begin();
-  string polygon="";
-  TaskType t;
-  while(i != nodeList.end())
-  {
-    if(getTaskTpye(*i)==WAYPOLYGON)
-    {
-      polygon += getWayPoint(*i);
-      polygon += ":";
-    }
-    else
-      break;
-    i++;
-  }
-  if(polygon.size()>1)
-    polygon.erase(polygon.end()-1);
-  // cout << "Current way polygon is: " << polygon << endl;
-  return polygon;
-}
-/**
- * @description: 
- * @param {string} node
- * @return {*}
- */
-TaskType TaskManger::getTaskTpye(string node)
-{
-  string type;
-  TaskType nodetype;
-  if(getWord(node, 0, type))
-  {
-    // cout << "Current task type is: " << type << endl;
-    // return type;
-    if(type=="@1")
-      return nodetype=WAYPOINTS;
-    else if(type=="@2")
-      return nodetype=WAYPOLYGON;
-    else if(type=="@3")
-      return nodetype=CONSTHEADING;
-    else
-      return nodetype=NOTYPE;
-  }
-  else
-    cout << "Warming: read type of task Parm Filed"  << endl;
-}
-/**
- * @description: 
- * @param {string} str
- * @param {int} c
- * @return {*}
- */
-bool TaskManger::getWord(const string str, int ct, string &word)
-{
-  string cword;
-  int count=0;
-  for(auto c:str)
-  {
-    if(c==',')
-    {
-      if(count==ct)
-      {
-        word = cword;
-        return true;
-      }
-      cword="";
-      count++;
-    }
-    else
-      cword += c;
-  }
-  word = cword;
-  if(ct==0)
-    return true;
-  else
-    return false;
-}
-
-string TaskManger::getNode(list<string> &nodelist)
-{
-  string current_node;
-  if(!nodelist.empty())
-  {
-    cout << "The remaining number of nodes is: " << nodelist.size() << endl;
-    current_node = nodelist.front();
-    nodelist.pop_front();
-    cout << "Current Node is " << current_node << endl;
-  }
-  else
-    current_node="";
-  return current_node;
-}
-
-string TaskManger::getTimeCount()
-{
-  return "1000";
-}
-
-string TaskManger::getMaxDepth()
-{
-  return "20";
-}
-string  TaskManger::getNodeName(const string node)
-{
-  string name="";
-  if(getWord(node, 5, name))
-  {
-    return name;
-  }
-  else
-    cout << "Warming: read Speed Parm Filed" << endl;
-  // getWord(node, 3, depth);
-  return name;
-}
-bool TaskManger::sendNode(const string current_node, list<string> &nodeList)
-{
-  // cout << "Current WayPoint Node complete" << endl;
-  string node_pol;
-  nodeType = getTaskTpye(current_node);
-  switch(nodeType)
-  {
-    case WAYPOINTS:
-    {
-      node_wpt = getWayPoint(current_node);
-      node_depth = getDepth(current_node);
-      node_speed = getSpeed(current_node);
-      setWpt(node_wpt, node_speed, node_depth);
-      current_node_complete = false;
-      break;
-    }
-    case WAYPOLYGON:
-    {
-      node_depth = getDepth(current_node);
-      node_speed = getSpeed(current_node);
-      if (current_pol_complete && !current_node_complete) //wayflag发布但是endflag没有发布时代表不是首个节点，不发布路径信息
-      {
-        node_pol = "#";
-      }
-      else //if(current_pol_complete && current_node_complete)
-      {
-        nodeList.push_front(current_node);
-        node_pol = getWayPolygon(nodeList);
-        nodeList.pop_front();
-      }
-      setWayPol(node_pol, node_speed, node_depth);
-      cout << "MSG is :Pol=" + node_pol + "#speed=" + node_speed + "#depth=" + node_depth<< endl;
-      break;
-    }
-    default:
-    break;
-  }
-  current_node_complete = false;
-  current_pol_complete = false;
-  
-  return true;
-}
-
-void TaskManger::FaultFlagClear()
-{
-  faultNumber = 0;
-  if(faultMsg == "AltitudeOut")
-    Notify(UPDATE_RESETFAULT,"altittude");
-  else if(faultMsg == "DepthOut")
-    Notify(UPDATE_RESETFAULT,"depth");
-  else if(faultMsg == "RegionOut")
-    Notify(UPDATE_RESETFAULT,"poly");  
-  else if(faultMsg == "TimeOut")
-    Notify(UPDATE_RESETFAULT,"time");
-  else
-    cout << "Can not Clear Unknow Fault Flag!!!" << endl;
-  cout << "Clear Fault : " + faultMsg << endl;  
-}
-
-bool TaskManger::buildReport()
-{
-  switch (state)
-  {
-  case UNRUN:
-  {
-    m_msgs << "$Task Manager Status$:" << "UNRUN" << endl;
-    m_msgs << "$Idel Task Number$:" << taskCount << endl;
-    break;
-  }
-  case RUN:
-  {
-    m_msgs << "$Task Manager Status$:" << "RUN" << endl;
-    m_msgs << "$Current Task Point$ :" << current_node << endl;
-    m_msgs << "Currnet Task List    :" << endl;
-    for(string i : nodeList)
-      m_msgs << "  :  " << i << endl;  
-    break;
-  }
-  case FAULT:
-  {
-    m_msgs << "$Task Manager Status$:" << "FAULT" << endl;
-    break;
-  }
-
-  default:
-    break;
-  }
-  m_msgs << "=========================================================" << endl;
-  RepList["Current Node"] = current_node;
-  RepList["remaining number of nodes"] = (int)nodeList.size()+1;
-  string rep = Json::writeString(RepJsBuilder, RepList);
-  m_msgs << rep << endl;
-  return true;
-}
-
-inline void TaskManger::taskStart()
-{
-  Notify("RUN","true");
-  Notify("MOOS_MANUAL_OVERRIDE","false");
-}
-inline void TaskManger::taskFinish()
-{    
-    current_node="";
-    Notify("RUN","false");
-    state = UNRUN;
-    cout << "The task node is all complete!!!" << endl;
-    Notify("MOOS_MANUAL_OVERRIDE","true");
-}
-inline void TaskManger::InitConfig()
-{
-  Notify(MSG_ENDFLAG,"false");
-  Notify(MSG_WPTFLAG,"false");
-  // Notify(MSG_START,"false");
-  Notify(MSG_RUN,"false");
-  //
-  readSafetyRules("q");
-  setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon);
-  readWayConfig("a");
-  setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius);
-}
-
-void TaskManger::postReportToSSM()
-{
-  string s_msg;
-  Json::Value msg;
-  msg["state"] = state;
-  msg["taskName"] = taskName;
-  msg["destName"] = getNodeName(current_node);
-  msg["errorCode"] = faultNumber;
-  // msg["progess"] = 
-  // msg["eta"] = 
-  RepList["toSSM"] = msg;
-  s_msg = Json::writeString(RepJsBuilder,msg);
-  Notify(MSG_TO_SSM, s_msg);
-}
-//1:超深
-//2.超时
-//3.超出区域
-//4.低于最小高度
-//11:任务文本
-//20:接收到其余程序传递的故障
-//99.未知故障
-void TaskManger::postFaultNumber(int n)
-{
-  Notify(MSG_TO_FH,n);
-}
\ No newline at end of file
diff --git a/src/pTaskManger/TaskManger.h b/src/pTaskManger/TaskManger.h
deleted file mode 100644
index 69d8a67..0000000
--- a/src/pTaskManger/TaskManger.h
+++ /dev/null
@@ -1,151 +0,0 @@
-/*
- * @Author: 1553836110 1553836110@qq.com
- * @Date: 2023-09-28 15:45:17
- * @LastEditors: zjk 1553836110@qq.com
- * @LastEditTime: 2023-11-15 09:31:32
- * @FilePath: /moos-ivp-pi/src/pTaskManger/TaskManger.h
- * @Description: 
- * 
- * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. 
- */
-/************************************************************/
-/*    NAME: zjk                                              */
-/*    ORGN: MIT                                             */
-/*    FILE: TaskManger.h                                          */
-/*    DATE:                                                 */
-/************************************************************/
-
-#ifndef TaskManger_HEADER
-#define TaskManger_HEADER
-
-#include "MOOS/libMOOS/MOOSLib.h"
-#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
-#include <queue>
-#include <list>
-#include "json/json.h"
-#include "VarDataPair.h"
-
-using namespace std;
-enum TaskType{WAYPOINTS, CONSTDEPTH, CONSTSPEED, CONSTHEADING, WAYPOLYGON, NOTYPE};
-enum Status{FAULT=0, UNRUN=1, MANUAL=2 ,RUN=3,  CONFIG=5};
-// class TaskManger : public CMOOSApp
-class TaskManger : public AppCastingMOOSApp
-{
- public:
-  TaskManger();
-  virtual ~TaskManger();
-
-  bool OnNewMail(MOOSMSG_LIST &NewMail);
-  bool Iterate();
-  bool OnConnectToServer();
-  bool OnStartUp();
-  void RegisterVariables();
-  bool buildReport();
-  void postFaultNumber(int n);
-
-  bool setSpeed(double speed);
-  bool setMaxDepth(string depth);
-  bool setWpt(std::string wpt, string speed, string depth);
-  bool setWayPol(string polygon, string speed, string depth);
-  bool setTaskTimer(string timerCount);
-  bool setSafetyRules(string maxTime, string maxDepth, string minAltitude, string polygon);
-  bool setWayConfig(string lead, string lead_damper, string capture_line, string capture_radius,string slip_radius);
-  
-  bool sendNode(const string current_node, list<string> &nodeList);
-
-  bool getWord(const string str, int ct, string &word);
-  string getSpeed(const string node);
-  string getDepth(const string node);
-  string getWayPoint(const string node);
-  string getWayPolygon(const list<string> nodeList);
-  string getNodeName(const string node);
-  string getNode(list<string> &nodelist);
-  string getTimeCount();
-  string getMaxDepth();
-  TaskType getTaskTpye(const string node);
-
-  int readTaskFile(string taskName);
-  int readSafetyRules(string fileName);
-  int readWayConfig(string fileName);
-  void postReportToSSM();
-  
-  inline void clearHelmFlag(){Notify("HELM_MAP_CLEAR",0.0);}
-  inline void taskStart();
-  inline void taskFinish();
-  void FaultFlagClear();
-  inline void InitConfig();
-  //内部消息发布
-  const string UPDATE_WPT = "WPT_UPDATE";
-  const string UPDATE_SPD = "SPEED_UPDATE";
-  const string UPDATE_DEP = "DEPTH_UPDATE";
-  const string UPDATE_TIMER = "TIMER_UPDATES";
-  const string UPDATE_MAXDEP = "MAXDEEP_UPDATES";
-  const string UPDATE_OPREGION = "OPREGION_UPDATES";
-  const string UPDATE_RESETFAULT = "OPREGION_RESET";
-  //内部消息订阅
-  const string MSG_WPTFLAG = "CurrentPointComplete";
-  const string MSG_ENDFLAG = "END_WayPoint";
-  const string MSG_START = "START";
-  const string MSG_SENDSAFTRULES = "SendSaftRules";
-  const string MSG_FALUT = "TaskFault";
-  const string MSG_RUN = "RUN";
-  const string MSG_CLEARFAULT = "ClearFalut";
-  //交互消息
-  const string MSG_IN_SSM = "uMission_action_cmd";
-  const string MSG_TO_SSM = "uMission_task_fb";
-  const string MSG_TO_FH = "uMission_fault_fb";
-  const string MSG_IN_MAN = "uManual_enable_cmd";  //TODO: 增加手操状态
-  const string MSG_FAULT_LEV2 = "uFH_errorMsg2_fb";
-  const string MSG_FALUT_LEV3 = "uFH_errorMsg3_fb";
-
-protected:
-// 任务参数
-  string node_wpt;
-  string node_depth;
-  string node_speed;
-// 安全规则
-  string maxDepth;
-  string maxTime;
-  string safePolygon;
-  string minAltitude="0";
-// 路径参数
-  string lead;
-  string lead_damper;
-  string lead_to_start;
-  string capture_line;
-  string capture_radius;
-  string slip_radius;
-  string efficiency_measure;
-
-  string faultMsg;
-
-  TaskType nodeType;
-  list<string> nodeList;
-
-private:
-  bool current_node_complete = false;
-  bool current_pol_complete = false;
-  bool start=false;
-  bool time_out=false;
-  int st=10;
-  int faultNumber = 0;
-  int readTask = 0;
-  string msg;
-  string current_node;
-  Status state = UNRUN;
-
-  Json::Value RepList;
-  Json::StreamWriterBuilder RepJsBuilder;
-
-
-//任务文件参数
-//TODO:动态配置任务文件等参数
-  string planConfigPath;
-  vector<string> taskList;
-  int taskCount;
-  string taskName;
-//发送节点信息
-  Json::Value node_rpt;   
-};
-
-#endif 
diff --git a/src/pTaskManger/TaskMangerMain.cpp b/src/pTaskManger/TaskMangerMain.cpp
deleted file mode 100644
index 9a8cab1..0000000
--- a/src/pTaskManger/TaskMangerMain.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
- * @Author: zjk 1553836110@qq.com
- * @Date: 2023-09-28 15:45:17
- * @LastEditors: zjk 1553836110@qq.com
- * @LastEditTime: 2023-10-24 15:13:22
- * @FilePath: /moos-ivp-extend/src/pTaskManger/TaskMangerMain.cpp
- * @Description: 
- * 
- * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. 
- */
-/************************************************************/
-/*    NAME: zjk                                              */
-/*    ORGN: MIT                                             */
-/*    FILE: TaskMangerMain.cpp                                    */
-/*    DATE:                                                 */
-/************************************************************/
-
-#include <string>
-#include "TaskManger.h"
-#include "ColorParse.h"
-#include "MBUtils.h"
-
-using namespace std;
-
-int main(int argc, char *argv[])
-{
-  string mission_file;
-  string run_command = argv[0];
-
-  for(int i=1; i<argc; i++) {
-    string argi = argv[i];
-    if((argi=="-v") || (argi=="--version") || (argi=="-version"))
-      // showReleaseInfoAndExit();
-      cout << " Version : 0.01" << endl;
-    else if((argi=="-e") || (argi=="--example") || (argi=="-example"))
-      // showExampleConfigAndExit();
-      cout << " example : NULL" << endl;
-    else if((argi=="-h") || (argi == "--help") || (argi=="-help"))
-      // showHelpAndExit();
-      cout << " Low leave Control for UUV " << endl;
-    else if((argi=="-i") || (argi == "--interface"))
-      // showInterfaceAndExit();
-      cout << " UUV Motion Control " << endl;
-    else if(strEnds(argi, ".moos") || strEnds(argi, ".moos++"))
-      mission_file = argv[i];
-    else if(strBegins(argi, "--alias="))
-      run_command = argi.substr(8);
-    else if(i == 2)
-      run_command = argi;
-  }
-  
-  if(mission_file == "")
-      // showHelpAndExit();
-
-  cout << termColor("green");
-  cout << "pTaskManger launching as " << run_command << endl;
-  cout << termColor() << endl;
-
-  TaskManger TaskMangerApp;
-  TaskMangerApp.Run(run_command.c_str(), mission_file.c_str(), argc, argv);
-
-  
-  return(0);
-}
-
diff --git a/src/pTaskManger/alpha.bhv b/src/pTaskManger/alpha.bhv
deleted file mode 100644
index 7a727f1..0000000
--- a/src/pTaskManger/alpha.bhv
+++ /dev/null
@@ -1,181 +0,0 @@
-//--------    FILE: alpha.bhv   -------------
-initialize RUN = false
-initialize TaskNum=t1
-initialize SendTask=false
-//--------------模式判断------------------------
-set MODE = ACTIVE{
-  RUN=true
-} INACTIVE
-
-set MODE = T1{
-  MODE=ACTIVE
-  TaskNum = t1
-}
-
-
-//----------路径点任务----------------------------
-Behavior = BHV_Waypoint
-{
-  name      = waypt_survey
-  pwt       = 100 //优先权重
-  condition = MODE==T1
-
-  //endflag   = START=false
-  endflag = END_WayPoint=true
-
-	configflag = CRUISE_SPD = $[SPEED]
-	//configflag = OSPOS = $[OSX],$[OSY]
-
-	activeflag = INFO=$[OWNSHIP]
-	activeflag = INFO=$[BHVNAME]
-	activeflag = INFO=$[BHVTYPE]
-
-	//cycleflag = CINFO=$[OSX],$[OSY]
-
-  wptflag = CurrentPointComplete=true
-	wptflag = PREV=$(PX),$(PY)
-	wptflag = NEXT=$(NX),$(NY)
-	wptflag = TEST=$(X),$(Y)
-	wptflag = OSPOS=$(OSX),$(OSY)
-	//wptflag_on_start = true
-  
-
-  updates    = WPT_UPDATE
-  //perpetual  = true
-
-  templating = spawn
-
-	//    speed_alt = 1.2
-  //use_alt_speed = true
-                lead = 8
-         lead_damper = 1
-       lead_to_start = false
-               speed = 1   // meters per second
-        capture_line = true
-      capture_radius = 5.0
-         slip_radius = 15.0
-	efficiency_measure = all
-
-               polygon = 60,-40
-               order = normal
-             //repeat  = 3
-
-    visual_hints = nextpt_color=yellow
-    visual_hints = nextpt_vertex_size=8
-    visual_hints = nextpt_lcolor=gray70
-    visual_hints = vertex_color=dodger_blue, edge_color=white
-    visual_hints = vertex_size=5, edge_size=1
-}
-
-
-//--------------定深任务------------------
-Behavior=BHV_ConstantDepth
-{
-  name = const_depth
-  pwt = 100
-  //condition = DEPLOY = true
-  condition = MODE==T1
-  duration = no-time-limit
-  updates = DEPTH_UPDATE
-  depth = 0
-}
-
-//--------------定向任务--------------------
-
-Behavior=BHV_ConstantHeading
-{
-  name       = const_heading
-  pwt        = 100
-  //condition  = START_TURN = true
-  //condition  = DEPLOY = true
-  condition = MODE==T3
-  perpetual  = true
-
-  activeflag = TURN = started
-
-  //endflag    = TURN = done
-  //endflag    = RETURN = true
-  //endflag    = START_TURN = false
-  endflag    = START=false
-
-          heading = 225
-  complete_thresh = 5
-       duration = no-time-limit
- }
-
-//--------------定速任务--------------------
-Behavior=BHV_ConstantSpeed
-{
-  name       = const_speed
-  pwt        = 1000
-  condition = MODE==T1
-  perpetual  = true
-  updates    = SPEED_UPDATE
-  //endflag    = START=false
-
-  speed = 5
-
-  duration = no-time-limit
-  //peakwidth = 0.5
-  //basewidth = 0.5
-
-}
-//----------------安全模式-----------------------
-//----------------计时器---------------------
-Behavior = BHV_Timer
-{ 
-  name      = mtime
-  condition = MODE==T1
-  pwt = 100
-  templating = spawn
-	//duration_status = MSTATUS
-	//duration = 10
-  endflag = TIME_OUT=true
-
-  updates      = TIMER_UPDATES        
-  
-  //perpetual  = true
-}
-//-------------最大深度限制--------------------------
-Behavior = BHV_MaxDepth
-{
-  name = maxdepth
-  pwt  = 200
-  condition = MODE==ACTIVE
-  updates = MAXDEEP_UPDATES
-  max_depth = 20
-  tolerance = 0
-  duration = no-time-limit
-}
-//--------------安全区域设置-----------------------
-
- Behavior = BHV_OpRegion
- {
-   // General Behavior Parameters
-   // ---------------------------
-   name         = op_region                 // example
-   pwt          = 300                       // default
-   condition = MODE==TN
-   updates      = OPREGION_UPDATES          // example
-
-   // Parameters specific to this behavior
-   // ------------------------------------
-                  max_time = 20              // default (seconds)
-                 max_depth = 25              // default (meters)
-              min_altitude = 0              // default (meters)
-                 reset_var = OPREGION_RESET // example
-        trigger_entry_time = 1              // default (seconds)
-         trigger_exit_time = 0.5            // default (seconds) 
-
-                   polygon = pts={-80,-00:-30,-175:150,-100:95,25}
-
-    breached_altitude_flag = TaskFault = AltitudeOut
-       breached_depth_flag = TaskFault = DepthOut
-        breached_poly_flag = TaskFault = RegionOut
-        breached_time_flag = TaskFault = TimeOut
-
-              visual_hints = vertex_color = brown  // default
-              visual_hints = vertex_size  = 3      // default
-              visual_hints = edge_color   = aqua   // default
-              visual_hints = edge_size    = 1      // default
- }
\ No newline at end of file
diff --git a/src/pTaskManger/alpha.moos b/src/pTaskManger/alpha.moos
deleted file mode 100644
index 7cb4788..0000000
--- a/src/pTaskManger/alpha.moos
+++ /dev/null
@@ -1,269 +0,0 @@
-//-------------------------------------------------
-// NAME: M. Benjamin, MIT CSAIL
-// FILE: alpha.moos
-//-------------------------------------------------
-
-ServerHost   = localhost
-ServerPort   = 9000
-Community    = pi
-MOOSTimeWarp = 1
-
-// Forest Lake
-LatOrigin  = 43.825300 
-LongOrigin = -70.330400 
-
-// MIT Sailing Pavilion (use this one)
-// LatOrigin  = 42.358456 
-// 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
-}
-
-//------------------------------------------
-// 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
-}
\ No newline at end of file
diff --git a/src/pTaskManger/clean.sh b/src/pTaskManger/clean.sh
deleted file mode 100644
index 63baef7..0000000
--- a/src/pTaskManger/clean.sh
+++ /dev/null
@@ -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   $VERBOSE   .LastOpenedMOOSLogDirectory
diff --git a/src/pTaskManger/launch.sh b/src/pTaskManger/launch.sh
deleted file mode 100644
index 4c1b0a6..0000000
--- a/src/pTaskManger/launch.sh
+++ /dev/null
@@ -1,39 +0,0 @@
-#!/bin/bash -e
-#----------------------------------------------------------
-#  Script: launch.sh
-#  Author: Michael Benjamin
-#  LastEd: May 20th 2019
-#----------------------------------------------------------
-#  Part 1: Set Exit actions and declare global var defaults
-#----------------------------------------------------------
-TIME_WARP=1
-COMMUNITY="alpha"
-GUI="yes"
-
-#----------------------------------------------------------
-#  Part 2: Check for and handle command-line arguments
-#----------------------------------------------------------
-for ARGI; do
-    if [ "${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 -- -$$
diff --git a/src/pTaskManger/pTaskManger.moos b/src/pTaskManger/pTaskManger.moos
deleted file mode 100644
index 1e790d3..0000000
--- a/src/pTaskManger/pTaskManger.moos
+++ /dev/null
@@ -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
-}
-