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2023-11-24 17:09:26 +08:00
commit a6919ec672
158 changed files with 30851 additions and 0 deletions
--- a/launch/alpha.moos
+++ b/launch/alpha.moos
@@ -0,0 +1,149 @@
+
+ServerHost   = localhost
+ServerPort   = 9000
+Community    = zxb
+MOOSTimeWarp = 1
+
+// Forest Lake
+//这两个参数没有pMarineViewer就会闪退
+LatOrigin  = 43.825300 
+LongOrigin = -70.330400 
+
+//------------------------------------------
+// Antler configuration  block
+ProcessConfig = ANTLER
+{
+  MSBetweenLaunches = 200
+
+  Run = MOOSDB        @ NewConsole = false
+  //Run = pLogger     @ NewConsole = false
+  Run = pMarineViewer	@ NewConsole = false
+  Run = pRealm	      @ NewConsole = false
+  Run = pShare        @ NewConsole = false
+}
+ProcessConfig = pShare
+{
+  AppTick    = 2
+  CommsTick  = 2
+
+  input = route =  localhost:8085
+  output = src_name=APPCAST_REQ, route=10.25.0.230:8081
+  
+  //输出有两个端口，8081和8082，选择用1或者2
+  //发送消息看以下格式
+  //output = src_name=Y, dest_name=B, route=host:port
+
+  output = src_name=uMission_action_cmd,route=10.25.0.230:8081
+}
+
+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
+}
+//------------------------------------------
+// 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 # 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)
+}