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zengxiaobin
1
launch/.LastOpenedMOOSLogDirectory
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1
launch/.LastOpenedMOOSLogDirectory
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LastOpenedLoggingDirectory=./MOOSLog_13_11_2023_____15_52_07
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181
launch/alpha.bhv
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181
launch/alpha.bhv
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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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149
launch/alpha.moos
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149
launch/alpha.moos
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@@ -0,0 +1,149 @@
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ServerHost = localhost
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ServerPort = 9000
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Community = zxb
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MOOSTimeWarp = 1
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// Forest Lake
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//这两个参数没有pMarineViewer就会闪退
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LatOrigin = 43.825300
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LongOrigin = -70.330400
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//------------------------------------------
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// Antler configuration block
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ProcessConfig = ANTLER
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{
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MSBetweenLaunches = 200
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Run = MOOSDB @ NewConsole = false
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//Run = pLogger @ NewConsole = false
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Run = pMarineViewer @ NewConsole = false
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Run = pRealm @ NewConsole = false
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Run = pShare @ NewConsole = false
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}
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ProcessConfig = pShare
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{
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AppTick = 2
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CommsTick = 2
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input = route = localhost:8085
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output = src_name=APPCAST_REQ, route=10.25.0.230:8081
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//输出有两个端口，8081和8082，选择用1或者2
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//发送消息看以下格式
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//output = src_name=Y, dest_name=B, route=host:port
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output = src_name=uMission_action_cmd,route=10.25.0.230:8081
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}
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ProcessConfig = pLogger
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{
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AppTick = 8
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CommsTick = 8
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AsyncLog = true
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// For variables that are published in a bundle on their first post,
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// explicitly declare their logging request
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//Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC
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//Log = REPORT @ 0 NOSYNC
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//Log = BHV_SETTINGS @ 0 NOSYNC
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Log = OPREGION_RESET @ 0 NOSYNC
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LogAuxSrc = true
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WildCardLogging = true
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WildCardOmitPattern = *_STATUS
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WildCardOmitPattern = DB_VARSUMMARY
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WildCardOmitPattern = DB_RWSUMMARY
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WildCardExclusionLog = true
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}
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//------------------------------------------
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// pMarineViewer config block
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ProcessConfig = pMarineViewer
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{
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AppTick = 4
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CommsTick = 4
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tiff_file = forrest19.tif
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//tiff_file = MIT_SP.tif
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vehicles_name_mode = names+depth //+shortmode
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set_pan_x = -90
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set_pan_y = -280
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zoom = 0.65
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vehicle_shape_scale = 1.5
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hash_delta = 50
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hash_shade = 0.22
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hash_viewable = true
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trails_point_size = 1
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//op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa
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//op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa
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//op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa
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//op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa
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// Appcast configuration
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appcast_height = 75
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appcast_width = 30
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appcast_viewable = true
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appcast_color_scheme = indigo
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nodes_font_size = xlarge
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procs_font_size = xlarge
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appcast_font_size = large
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// datum_viewable = true
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// datum_size = 18
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// gui_size = small
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// left_context[survey-point] = DEPLOY=true
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// left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false
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// left_context[survey-point] = RETURN=false
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right_context[return] = DEPLOY=true
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right_context[return] = MOOS_MANUAL_OVERRIDE=false
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right_context[return] = RETURN=false
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scope = RETURN
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scope = WPT_STAT
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scope = VIEW_SEGLIST
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scope = VIEW_POINT
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scope = VIEW_POLYGON
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scope = MVIEWER_LCLICK
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scope = MVIEWER_RCLICK
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//button_one = START # START=true
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button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"}
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//button_one = MOOS_MANUAL_OVERRIDE=false
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button_two = STOP # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"}
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//button_two = MOOS_MANUAL_OVERRIDE=true
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button_three = FaultClear # ClearFalut = true
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button_four = SendSecurityZone # SendSaftRules = true
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action = MENU_KEY=deploy # DEPLOY = true # RETURN = false
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action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false
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action = RETURN=true
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action = UPDATES_RETURN=speed=1.4
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cmd = label=DEPLOY, var=DEPLOY, sval=true, receivers=all:$(VNAMES)
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cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE, sval=false, receivers=all:$(VNAMES)
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cmd = label=DEPLOY, var=AVOID, sval=true, receivers=all:$(VNAMES)
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cmd = label=DEPLOY, var=RETURN, sval=false, receivers=all:$(VNAMES)
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cmd = label=DEPLOY, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES)
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cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES)
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cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES)
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cmd = label=PERMUTE, var=UTS_FORWARD, dval=0, receivers=shore
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cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES), color=pink
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cmd = label=LOITER-FAST, var=UP_LOITER, sval=speed=2.8, receivers=all:$(VNAMES)
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cmd = label=LOITER-SLOW, var=UP_LOITER, sval=speed=1.4, receivers=all:$(VNAMES)
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cmd = label=LOITER-CLOCKWISE-TRUE, var=UP_LOITER, sval=clockwise=true, receivers=all:$(VNAMES)
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cmd = label=LOITER-CLOCKWISE-FALSE, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES)
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cmd = label=LOITER-CLOCKWISE-BEST, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES)
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}
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324
launch/launch.moos
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324
launch/launch.moos
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@@ -0,0 +1,324 @@
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//======================================
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//1. 在phare配置块里面添加需要的变量和调试端端口配置
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//2. Our define process中加入自定义程序
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//3. For test process 中加入配合调试的程序
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ServerHost = localhost
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ServerPort = 9000
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Simulator = true
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Community = pi
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MOOSTimeWarp = 1
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LatOrigin = 43.825300
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LongOrigin = -70.330400
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AltOrigin = 0
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VehicleName = lauv-150
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LogEnable = false
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LogDir = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/log/
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AuvDataLog = auvData.mdat
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MissionHistoryLog = missionHistory.txt
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ClientCommandLog = clientCommand.txt
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FaultLog = faultLog.txt
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MotionControlLog = motionControl.txt
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llaOriginPath = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/Origin.json
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//------------------------------------------
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// Antler configuration block
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ProcessConfig = ANTLER
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{
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MSBetweenLaunches = 200
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//============MOOS process=========================
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Run = MOOSDB @ NewConsole = false
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Run = pHelmIvP @ NewConsole = false
|
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Run = pNodeReporter @ NewConsole = false
|
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Run = uProcessWatch @ NewConsole = false
|
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Run = pRealm @ NewConsole = false
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Run = pShare @ NewConsole = false
|
||||
Run = pMarineViewer @ NewConsole = false
|
||||
//===========Our define process====================
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||||
Run = pBoardSupportComm @ NewConsole = false
|
||||
Run = pTaskManagement @ NewConsole = false
|
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Run = pMotionControler @ NewConsole = false
|
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Run = pSurfaceSupportComm @ NewConsole = false
|
||||
Run = pDataManagement @ NewConsole = false
|
||||
Run = pFaultHandle @ NewConsole = false
|
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Run = pStateManagement @ NewConsole = false
|
||||
//===============For test process===================
|
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Run = pEmulator @ NewConsole = false
|
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//Run = uSimMarine @ NewConsole = false
|
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//Run = pMarinePID @ NewConsole = false
|
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|
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}
|
||||
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||||
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/Desktop/project/moos-ivp-pi/setting/PlanConfigure.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
|
||||
}
|
||||
|
||||
ProcessConfig = pEmulator
|
||||
{
|
||||
AppTick = 5
|
||||
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
|
||||
}
|
||||
|
||||
328
launch/launch_local.moos
Normal file
328
launch/launch_local.moos
Normal file
@@ -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 = true
|
||||
//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/Desktop/project/moos-ivp-pi/setting/PlanConfigure.json
|
||||
planConfigPath = /home/ben/project/moos-ivp-pi/setting/PlanConfigure.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/ben/project/moos-ivp-pi/setting/ControlParam.json
|
||||
}
|
||||
|
||||
ProcessConfig = pEmulator
|
||||
{
|
||||
AppTick = 5
|
||||
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
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user