合并以解决冲突
Merge branch 'master' of http://10.25.0.206:3002/UUV/moos-ivp-pi
This commit is contained in:
chenlizhi
4
.gitignore
vendored
4
.gitignore
vendored
@@ -101,7 +101,7 @@ dkms.conf
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/log
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/log
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/launch/launch_local.moos
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/launch/launch_local.moos
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bin/
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/bin/
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build/
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/build/
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/scripts
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/scripts
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/.vscode
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/.vscode
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@@ -1,175 +0,0 @@
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{
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"east_waypt_survey" :
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{
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"boardStamp" : 1698135269.1985879,
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"clientStamp" : 1698135269.1812179,
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"closedLoop" : true,
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"constSpeed" : -1.0,
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"duration" : -1.0,
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"maxDepth" : -1.0,
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"minDepth" : -1.0,
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"origin" :
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{
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"altitude" : 0.0,
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"lat" : 43.825298309326172,
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"lon" : -70.330398559570312
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},
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"perpetual" : false,
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"points" :
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[
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{
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"depth" : 9.0,
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"east" : 121.51780491942634,
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"lat" : 43.824428558349609,
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"lon" : -70.328887939453125,
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"name" : "station_1",
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"north" : -96.635898081838207,
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"speed" : 2.0,
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"type" : "point"
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},
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{
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"depth" : 7.0,
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"east" : 201.91511278899367,
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"lat" : 43.824676513671875,
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"lon" : -70.327888488769531,
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"name" : "station_2",
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"north" : -69.083922179977421,
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"speed" : 2.5,
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"type" : "point"
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}
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],
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"priority" : 10,
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"repeat" : 3,
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"sourceAddress" : "10.25.0.160",
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"sourceName" : "CCU Neptus 0_163",
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"taskId" : "1",
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"taskName" : "east_waypt_survey"
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},
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"plan1_toMoos" :
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{
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"boardStamp" : 1699602762.2845099,
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"clientStamp" : 1699602762.7520001,
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"closedLoop" : false,
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"duration" : -1.0,
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"maxDepth" : -1.0,
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"minDepth" : -1.0,
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"origin" :
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{
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"altitude" : 0.0,
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"lat" : 43.825299999999999,
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"lon" : -70.330399999999997
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},
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"perpetual" : false,
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"points" :
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[
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{
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"depth" : 2.0,
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"east" : 117.83291847226671,
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"lat" : 43.825713999999998,
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"lon" : -70.32893,
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"name" : "Goto1",
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"north" : 46.200319317940647,
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"speed" : 2.0,
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"type" : "point"
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},
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{
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"depth" : 2.0,
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"east" : -17.18366087421261,
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"lat" : 43.826782000000001,
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"lon" : -70.330609999999993,
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"name" : "Goto2",
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"north" : 164.87635389378988,
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"speed" : 2.0,
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"type" : "point"
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},
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{
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"depth" : 2.0,
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"east" : -241.19025325837993,
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"lat" : 43.825465999999999,
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"lon" : -70.333399999999997,
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"name" : "Goto3",
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"north" : 18.653618776002617,
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"speed" : 2.0,
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"type" : "point"
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},
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{
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"depth" : 2.0,
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"east" : -203.76118848802312,
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"lat" : 43.823234999999997,
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"lon" : -70.332930000000005,
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"name" : "Goto4",
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"north" : -229.29782627916489,
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"speed" : 2.0,
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"type" : "point"
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}
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],
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"priority" : 10,
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"repeat" : 1,
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"sourceAddress" : "10.25.0.163",
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"sourceName" : "CCU JHL 0_163",
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"taskId" : "0,106,3,-96,8,-103,13,6,9,32,50,-13,47,-71,61,1",
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"taskName" : "plan1_toMoos"
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},
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"west_waypt_survey" :
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{
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"boardStamp" : 1698135268.3958621,
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"clientStamp" : 1698135268.2057669,
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"closedLoop" : true,
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"constSpeed" : -1.0,
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"duration" : -1.0,
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"maxDepth" : -1.0,
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"minDepth" : -1.0,
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"origin" :
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{
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"altitude" : 0.0,
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"lat" : 43.825298309326172,
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"lon" : -70.330398559570312
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},
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"perpetual" : true,
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"points" :
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[
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{
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"depth" : 9.0,
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"east" : -91.445572043530944,
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"lat" : 43.824195861816406,
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"lon" : -70.331535339355469,
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"name" : "station_1",
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"north" : -122.49101460421512,
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"speed" : 4.0
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},
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{
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"depth" : 7.0,
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"east" : 5.5235485468483718,
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"lat" : 43.824298858642578,
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"lon" : -70.330329895019531,
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"name" : "station_2",
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"north" : -111.04778559533926,
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"speed" : 6.0
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},
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{
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"depth" : 5.0,
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"east" : 4.2961493948725868,
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"lat" : 43.823516845703125,
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"lon" : -70.330345153808594,
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"name" : "station_3",
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"north" : -197.93630920628678,
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"speed" : 8.0
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},
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{
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"depth" : 3.0,
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"east" : -81.013520711457318,
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"lat" : 43.823207855224609,
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"lon" : -70.331405639648438,
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"name" : "station_4",
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"north" : -232.26737690334403,
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"speed" : 10.0
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}
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],
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"priority" : 10,
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"repeat" : -1,
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"sourceAddress" : "10.25.0.160",
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"sourceName" : "CCU Neptus 0_163",
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"taskId" : "2",
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"taskName" : "west_waypt_survey"
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}
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}
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16
README.md
16
README.md
@@ -19,8 +19,20 @@ bin/ : 程序执行文件存放位置
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# 文件说明
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# 文件说明
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./build.sh : 编译脚本
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build.sh : 编译脚本
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./clean.sh : 清除编译生成文件
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clean.sh : 清除编译生成文件
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launch/launch.moos : Pi上的moos-ivp-pi启动脚本
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alpha.moos : moos-ivp调试端启动脚本，在pi以外的调试计算机上使用，可以监控pi的各个状态。
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.gitignore : git的配置文件，编辑这个可以文件以设置忽略哪些不需要跟踪的文件，比如编译生成文件等。
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setting/PlanConfigure.json : 使命文本
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setting/ControlParam.json ： 运动控制器参数配置文件
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setting/Origin.json ：经纬度原点配置文件
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@@ -1,328 +0,0 @@
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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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LogDir = /home/ben/project/moos-ivp-pi/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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llaOriginPath = /home/ben/project/moos-ivp-pi/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
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Run = pMarineViewer @ NewConsole = false
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//===========Our define process====================
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Run = pBoardSupportComm @ NewConsole = false
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Run = pTaskManagement @ NewConsole = false
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//Run = pMotionControler @ NewConsole = false
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Run = pSurfaceSupportComm @ NewConsole = false
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Run = pDataManagement @ NewConsole = false
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Run = pFaultHandle @ NewConsole = false
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Run = pStateManagement @ NewConsole = false
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//===============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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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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||||||
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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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||||||
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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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||||||
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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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|
||||||
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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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|
||||||
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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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|
||||||
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|
||||||
//button_one = START # START=true
|
|
||||||
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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|
||||||
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|
||||||
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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:$(VNAMES)
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|
||||||
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|
||||||
cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES)
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|
||||||
cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES)
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|
||||||
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|
||||||
cmd = label=PERMUTE, var=UTS_FORWARD, dval=0, receivers=shore
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|
||||||
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|
||||||
cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES), color=pink
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|
||||||
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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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|
||||||
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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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|
||||||
|
|
||||||
ProcessConfig = pHelmIvP
|
|
||||||
{
|
|
||||||
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
|
|
||||||
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