删除了多余的文件
This commit is contained in:
@@ -1,181 +0,0 @@
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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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@@ -1,269 +0,0 @@
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//-------------------------------------------------
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// NAME: M. Benjamin, MIT CSAIL
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// FILE: alpha.moos
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//-------------------------------------------------
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ServerHost = localhost
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ServerPort = 9000
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Community = pi
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MOOSTimeWarp = 1
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// Forest Lake
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LatOrigin = 43.825300
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LongOrigin = -70.330400
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// MIT Sailing Pavilion (use this one)
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// LatOrigin = 42.358456
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// LongOrigin = -71.087589
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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 = uSimMarineV22 @ NewConsole = false
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Run = pMarinePIDV22 @ NewConsole = false
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Run = pHelmIvP @ NewConsole = false
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Run = pMarineViewer @ NewConsole = false
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Run = uProcessWatch @ NewConsole = false
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Run = pNodeReporter @ NewConsole = false
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Run = pRealm @ NewConsole = false
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Run = pTaskManger @ NewConsole = false
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//Run = uTimerScript @ NewConsole = false
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}
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//------------------------------------------
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// pLogger config block
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ProcessConfig = pTaskManger
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{
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AppTick = 8
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CommsTick = 8
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planConfigPath = /home/zjk/Desktop/project/moos-ivp-extend/PlanConfigure.json
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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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// uProcessWatch config block
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ProcessConfig = uProcessWatch
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{
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AppTick = 4
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CommsTick = 4
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watch_all = true
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nowatch = uPokeDB*
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nowatch = uQueryDB*
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nowatch = uXMS*
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nowatch = uMAC*
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}
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//------------------------------------------
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// uSimMarineV22 config block
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ProcessConfig = uSimMarineV22
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{
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AppTick = 4
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CommsTick = 4
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start_pos = x=0, y=-20, heading=180, speed=5
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prefix = NAV
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turn_rate = 40
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thrust_map = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5
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//thrust_reflect = true
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buoyancy_rate = 0.075
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max_depth_rate = 5
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max_depth_rate_speed = 2.0
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default_water_depth = 400
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}
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//------------------------------------------
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// pHelmIvP config block
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ProcessConfig = pHelmIvP
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{
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AppTick = 4
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CommsTick = 4
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behaviors = alpha.bhv
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domain = course:0:359:360
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domain = speed:0:10:101
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domain = depth:0:100:101
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park_on_allstop = false
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//park_on_allstop = true
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}
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//------------------------------------------
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// pMarinePID config block
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ProcessConfig = pMarinePIDV22
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{
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AppTick = 20
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CommsTick = 20
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verbose = true
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depth_control = true
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// SIM_INSTABILITY = 20
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// Yaw PID controller
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yaw_pid_kp = 1.2
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yaw_pid_kd = 0.0
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yaw_pid_ki = 0.3
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yaw_pid_integral_limit = 0.07
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// Speed PID controller
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speed_pid_kp = 1.0
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speed_pid_kd = 0.0
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speed_pid_ki = 0.1
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speed_pid_integral_limit = 0.07
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maxpitch = 15
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maxelevator = 13
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pitch_pid_kp = 1.5
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pitch_pid_kd = 0
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pitch_pid_ki = 1.0
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pitch_pid_integral_limit = 0
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z_to_pitch_pid_kp = 0.12
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z_to_pitch_pid_kd = 0
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z_to_pitch_pid_ki = 0.004
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z_to_pitch_pid_integral_limit = 0.05
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//MAXIMUMS
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maxrudder = 100
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maxthrust = 100
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// A non-zero SPEED_FACTOR overrides use of SPEED_PID
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// Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
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speed_factor = 0
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simulation = 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 # START=false
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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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}
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//------------------------------------------
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// pNodeReporter config block
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ProcessConfig = pNodeReporter
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{
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AppTick = 2
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CommsTick = 2
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//platform_type = kayak
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//更改显示形状为uuv
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platform_type = UUV
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platform_color = red
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platform_length = 4
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}
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ProcessConfig = uTimerScript
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{
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AppTick = 4
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CommsTick = 4
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condition = DEPLOY = true
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randvar = varname = RND_DEPTH, min=20, max=80, key=at_reset
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event = var = DEPTH_UPDATE, val=depth=$[RND_DEPTH], time=120
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reset_max = nolimit reset_time = all-posted
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}
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@@ -1,37 +0,0 @@
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#!/bin/bash
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#--------------------------------------------------------------
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# Script: clean.sh
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# Author: Michael Benjamin
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# Date: June 2020
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#----------------------------------------------------------
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# Part 1: Declare global var defaults
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#----------------------------------------------------------
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VERBOSE=""
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#-------------------------------------------------------
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# Part 2: Check for and handle command-line arguments
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#-------------------------------------------------------
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for ARGI; do
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if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then
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echo "clean.sh [SWITCHES] "
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echo " --verbose "
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echo " --help, -h "
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exit 0;
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elif [ "${ARGI}" = "--verbose" -o "${ARGI}" = "-v" ] ; then
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VERBOSE="-v"
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else
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echo "clean.sh: Bad Arg:" $ARGI
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exit 1
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fi
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done
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#-------------------------------------------------------
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# Part 2: Do the cleaning!
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#-------------------------------------------------------
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if [ "${VERBOSE}" = "-v" ]; then
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echo "Cleaning: $PWD"
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fi
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rm -rf $VERBOSE MOOSLog_* XLOG_* LOG_*
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rm -f $VERBOSE *~ *.moos++
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rm -f $VERBOSE targ_*
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rm -f $VERBOSE .LastOpenedMOOSLogDirectory
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@@ -1,39 +0,0 @@
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#!/bin/bash -e
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#----------------------------------------------------------
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# Script: launch.sh
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# Author: Michael Benjamin
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# LastEd: May 20th 2019
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#----------------------------------------------------------
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# Part 1: Set Exit actions and declare global var defaults
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#----------------------------------------------------------
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TIME_WARP=1
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COMMUNITY="alpha"
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GUI="yes"
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#----------------------------------------------------------
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# Part 2: Check for and handle command-line arguments
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#----------------------------------------------------------
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for ARGI; do
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if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then
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echo "launch.sh [SWITCHES] [time_warp] "
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echo " --help, -h Show this help message "
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exit 0;
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elif [ "${ARGI}" = "--nogui" ] ; then
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GUI="no"
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elif [ "${ARGI//[^0-9]/}" = "$ARGI" -a "$TIME_WARP" = 1 ]; then
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TIME_WARP=$ARGI
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else
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echo "launch.sh Bad arg:" $ARGI " Exiting with code: 1"
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exit 1
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||||
fi
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||||
done
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||||
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||||
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||||
#----------------------------------------------------------
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||||
# Part 3: Launch the processes
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||||
#----------------------------------------------------------
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echo "Launching $COMMUNITY MOOS Community with WARP:" $TIME_WARP
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||||
pAntler $COMMUNITY.moos --MOOSTimeWarp=$TIME_WARP >& /dev/null &
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||||
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||||
uMAC -t $COMMUNITY.moos
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||||
kill -- -$$
|
||||
Reference in New Issue
Block a user