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src/pEmulator/a.moos

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+//-------------------------------------------------
+// NAME: M. Benjamin, MIT CSAIL
+// FILE: alpha.moos
+//-------------------------------------------------
+
+ServerHost   = localhost
+ServerPort   = 9000
+Community    = alpha
+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 = pMarineViewer	@ NewConsole = false
+  Run = uProcessWatch	@ NewConsole = false
+  Run = pNodeReporter	@ NewConsole = false
+  Run = pEmulator @ NewConsole = true
+  //Run = pLogger       @ NewConsole = false
+  Run = pMotionControler   @ NewConsole = false
+  Run = pTaskManger   @ NewConsole = false
+  Run = pHelmIvP      @ NewConsole = false
+}
+ProcessConfig = pTaskManger
+{
+  AppTick   = 8
+  CommsTick = 8
+
+  planConfigPath  = /home/zjk/Desktop/project/moos-ivp-extend/PlanConfigure.json
+}
+ProcessConfig = pEmulator
+{
+  AppTick   = 5
+  CommsTick = 5
+  matlab_host = 192.168.0.11
+  matlab_port = 8085
+  local_port = 8080
+  prefix = NAV
+
+  start_x = 10
+  start_y = 9
+  start_z = 1
+  start_heading = 30
+}
+
+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
+//------------------------------------------
+// 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 = pMotionControler
+{
+  AppTick    = 10
+  CommsTick  = 10
+
+  verbose       = true
+  depth_control = true
+
+  // SIM_INSTABILITY = 20
+
+  // Yaw PID controller
+  yaw_pid_kp		 = 10
+  yaw_pid_kd		 = 0.0
+  yaw_pid_ki		 = 0.01
+  yaw_pid_integral_limit = 10
+
+  // Speed PID controller
+  speed_pid_kp		 = 20.0
+  speed_pid_kd		 = 0.0
+  speed_pid_ki		 = 1
+  speed_pid_integral_limit = 100
+
+  maxpitch = 15
+  maxelevator = 30
+
+  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
+  maxrudder    = 30
+  maxthrust    = 1525
+
+  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
+  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
+  speed_factor = 0
+}
+
+//------------------------------------------
+// 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 = MOOS_MANUAL_OVERRIDE=false
+  button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"}
+
+  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
+}
+
+//------------------------------------------
+// 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
+}