From 4693f2181e57dc53979978dcc9d4042fcdd71fd8 Mon Sep 17 00:00:00 2001 From: zjk <1553836110@qq.com> Date: Sun, 29 Jun 2025 13:20:55 +0800 Subject: [PATCH] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=96=87=E4=BB=B6=E8=87=B3?= =?UTF-8?q?=20launch?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 岸基程序模版 --- launch/launch_local.moos | 328 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 328 insertions(+) create mode 100644 launch/launch_local.moos diff --git a/launch/launch_local.moos b/launch/launch_local.moos new file mode 100644 index 0000000..b55de0e --- /dev/null +++ b/launch/launch_local.moos @@ -0,0 +1,328 @@ +//====================================== +//1. 在phare配置块里面添加需要的变量和调试端端口配置 +//2. Our define process中加入自定义程序 +//3. For test process 中加入配合调试的程序 + +ServerHost = localhost +ServerPort = 9000 +Simulator = true + +Community = pi + +MOOSTimeWarp = 1 + +LatOrigin = 43.825300 +LongOrigin = -70.330400 +AltOrigin = 0 + +VehicleName = lauv-150 + +LogEnable = false +//LogDir = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/log/ +LogDir = /home/ben/project/moos-ivp-pi/log/ +AuvDataLog = auvData.mdat +MissionHistoryLog = missionHistory.txt +ClientCommandLog = clientCommand.txt +FaultLog = faultLog.txt +MotionControlLog = motionControl.txt + +//llaOriginPath = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/Origin.json +llaOriginPath = /home/ben/project/moos-ivp-pi/setting/Origin.json + +//------------------------------------------ +// Antler configuration block +ProcessConfig = ANTLER +{ + MSBetweenLaunches = 200 + //============MOOS process========================= + Run = MOOSDB @ NewConsole = false + Run = pHelmIvP @ NewConsole = false + Run = pNodeReporter @ NewConsole = false + Run = uProcessWatch @ NewConsole = false + Run = pRealm @ NewConsole = false + //Run = pShare @ NewConsole = false + Run = pMarineViewer @ NewConsole = false + //===========Our define process==================== + Run = pBoardSupportComm @ NewConsole = false + Run = pTaskManagement @ NewConsole = false + Run = pMotionControler @ NewConsole = false + Run = pSurfaceSupportComm @ NewConsole = false + Run = pDataManagement @ NewConsole = false + Run = pFaultHandle @ NewConsole = false + Run = pStateManagement @ NewConsole = false + //===============For test process=================== + Run = pEmulator @ NewConsole = false + //Run = uSimMarine @ NewConsole = false + //Run = pMarinePID @ NewConsole = false + +} + +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 # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"} + //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 + cmd = label=DEPLOY, var=DEPLOY, sval=true, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE, sval=false, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=AVOID, sval=true, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=RETURN, sval=false, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) + + cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES) + cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) + + cmd = label=PERMUTE, var=UTS_FORWARD, dval=0, receivers=shore + + cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES), color=pink + + cmd = label=LOITER-FAST, var=UP_LOITER, sval=speed=2.8, receivers=all:$(VNAMES) + cmd = label=LOITER-SLOW, var=UP_LOITER, sval=speed=1.4, receivers=all:$(VNAMES) + + cmd = label=LOITER-CLOCKWISE-TRUE, var=UP_LOITER, sval=clockwise=true, receivers=all:$(VNAMES) + cmd = label=LOITER-CLOCKWISE-FALSE, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) + cmd = label=LOITER-CLOCKWISE-BEST, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) +} + +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 + +} +ProcessConfig = uProcessWatch +{ + AppTick = 4 + CommsTick = 4 + + watch_all = true + nowatch = uPokeDB* + nowatch = uQueryDB* + nowatch = uXMS* + nowatch = uMAC* + nowatch = pShare* + nowatch = pRealm* + nowatch = pNodeReporter* +} + +ProcessConfig = pNodeReporter +{ + AppTick = 2 + CommsTick = 2 + + platform_type = UUV + platform_color = red + platform_length = 4 +} + + +ProcessConfig = pShare +{ + AppTick = 2 + CommsTick = 2 + //UUV 信息 + output = src_name = NODE_REPORT*, route = 10.25.0.160:8085 + output = src_name = NODE_REPORT*, route = 10.25.0.248:8085 + output = src_name = NODE_REPORT*, route = 10.25.0.165:8085 + //App 信息 + output = src_name = APPCAST*, route = 10.25.0.160:8085 + output = src_name = APPCAST*, route = 10.25.0.165:8085 + output = src_name = APPCAST*, route = 10.25.0.248:8085 + //路径点信息 + output = src_name = VIEW*, route = 10.25.0.160:8085 + output = src_name = VIEW*, route = 10.25.0.165:8085 + output = src_name = VIEW*, route = 10.25.0.248:8085 + //调试端输入端口 + input = route = localhost:8081 + input = route = localhost:8082 + input = route = localhost:8083 +} + +ProcessConfig = pTaskManagement +{ + AppTick = 8 + CommsTick = 8 + planConfigPath = /home/zjk/project/work/moos-ivp-pi/setting/PlanConfigure.json + safetyRulesPath = /home/zjk/project/work/moos-ivp-pi/setting/SafetyRules.json + wayConfigParamPath = /home/zjk/project/work/moos-ivp-pi/setting/WayConfigParam.json +} + +ProcessConfig = pBoardSupportComm +{ + AppTick = 5 + CommsTick = 5 +} + +ProcessConfig = uSimMarine +{ + AppTick = 10 + CommsTick = 10 + + START_X = 0 + START_Y = 0 + START_SPEED = 0 + START_HEADING = 180 + + PREFIX = NAV +} + +ProcessConfig = pMarinePID +{ + AppTick = 20 + CommsTick = 20 + + VERBOSE = true + DEPTH_CONTROL = false + + // Yaw PID controller + YAW_PID_KP = 0.5 + YAW_PID_KD = 0.0 + YAW_PID_KI = 0.0 + 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 = pMotionControler +{ + AppTick = 5 + CommsTick = 5 + tardy_nav_thresh = 2.0 + tardy_helm_thresh = 2.0 + + cheak_stalensee = true + delta_freqency = 5 + + //config_file = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/ControlParam.json + config_file = /home/zjk/project/work/moos-ivp-pi/setting/ControlParam.json +} + +ProcessConfig = pEmulator +{ + AppTick = 20 + CommsTick = 5 + matlab_host = 10.25.0.137 + matlab_port = 8085 + local_port = 8080 + prefix = NAV + + start_x = 10 + start_y = 9 + start_z = 1 + start_heading = 30 +} + +ProcessConfig = pDataManagement +{ + AppTick = 4 + CommsTick = 4 +} + +ProcessConfig = pLogger +{ + AppTick = 8 + CommsTick = 8 + + AsyncLog = true + FileTimeStamp = 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 + + LogAuxSrc = true + WildCardLogging = true + WildCardOmitPattern = *_STATUS + WildCardOmitPattern = DB_VARSUMMARY + WildCardOmitPattern = DB_RWSUMMARY + WildCardExclusionLog = true +} +ProcessConfig = pFaultHandle +{ + AppTick = 4 + CommsTick = 4 +} +