From afec681ffbc2968bc458a205825249f7144e40f4 Mon Sep 17 00:00:00 2001 From: zhaojingkui <1553836110@qq.com> Date: Wed, 29 Nov 2023 14:07:26 +0800 Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E9=99=A4=E4=BA=86=E5=A4=9A=E4=BD=99?= =?UTF-8?q?=E7=9A=84=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/pTaskManagement/alpha.bhv | 181 ---------------------- src/pTaskManagement/alpha.moos | 269 --------------------------------- src/pTaskManagement/clean.sh | 37 ----- src/pTaskManagement/launch.sh | 39 ----- 4 files changed, 526 deletions(-) delete mode 100644 src/pTaskManagement/alpha.bhv delete mode 100644 src/pTaskManagement/alpha.moos delete mode 100644 src/pTaskManagement/clean.sh delete mode 100644 src/pTaskManagement/launch.sh diff --git a/src/pTaskManagement/alpha.bhv b/src/pTaskManagement/alpha.bhv deleted file mode 100644 index 7a727f1..0000000 --- a/src/pTaskManagement/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/pTaskManagement/alpha.moos b/src/pTaskManagement/alpha.moos deleted file mode 100644 index 7cb4788..0000000 --- a/src/pTaskManagement/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/pTaskManagement/clean.sh b/src/pTaskManagement/clean.sh deleted file mode 100644 index 63baef7..0000000 --- a/src/pTaskManagement/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 $VERBOSE .LastOpenedMOOSLogDirectory diff --git a/src/pTaskManagement/launch.sh b/src/pTaskManagement/launch.sh deleted file mode 100644 index 4c1b0a6..0000000 --- a/src/pTaskManagement/launch.sh +++ /dev/null @@ -1,39 +0,0 @@ -#!/bin/bash -e -#---------------------------------------------------------- -# Script: launch.sh -# Author: Michael Benjamin -# LastEd: May 20th 2019 -#---------------------------------------------------------- -# Part 1: Set Exit actions and declare global var defaults -#---------------------------------------------------------- -TIME_WARP=1 -COMMUNITY="alpha" -GUI="yes" - -#---------------------------------------------------------- -# Part 2: Check for and handle command-line arguments -#---------------------------------------------------------- -for ARGI; do - if [ "${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 -- -$$