diff --git a/.gitignore b/.gitignore index ad97f86..7fbfaf4 100644 --- a/.gitignore +++ b/.gitignore @@ -101,7 +101,7 @@ dkms.conf /log /launch/launch_local.moos -bin/ -build/ +bin/* +/build/ /scripts /.vscode diff --git a/CMakeLists.txt b/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/PlanConfigure.json b/PlanConfigure.json deleted file mode 100644 index 861e03d..0000000 --- a/PlanConfigure.json +++ /dev/null @@ -1,175 +0,0 @@ -{ - "east_waypt_survey" : - { - "boardStamp" : 1698135269.1985879, - "clientStamp" : 1698135269.1812179, - "closedLoop" : true, - "constSpeed" : -1.0, - "duration" : -1.0, - "maxDepth" : -1.0, - "minDepth" : -1.0, - "origin" : - { - "altitude" : 0.0, - "lat" : 43.825298309326172, - "lon" : -70.330398559570312 - }, - "perpetual" : false, - "points" : - [ - { - "depth" : 9.0, - "east" : 121.51780491942634, - "lat" : 43.824428558349609, - "lon" : -70.328887939453125, - "name" : "station_1", - "north" : -96.635898081838207, - "speed" : 2.0, - "type" : "point" - }, - { - "depth" : 7.0, - "east" : 201.91511278899367, - "lat" : 43.824676513671875, - "lon" : -70.327888488769531, - "name" : "station_2", - "north" : -69.083922179977421, - "speed" : 2.5, - "type" : "point" - } - ], - "priority" : 10, - "repeat" : 3, - "sourceAddress" : "10.25.0.160", - "sourceName" : "CCU Neptus 0_163", - "taskId" : "1", - "taskName" : "east_waypt_survey" - }, - "plan1_toMoos" : - { - "boardStamp" : 1699602762.2845099, - "clientStamp" : 1699602762.7520001, - "closedLoop" : false, - "duration" : -1.0, - "maxDepth" : -1.0, - "minDepth" : -1.0, - "origin" : - { - "altitude" : 0.0, - "lat" : 43.825299999999999, - "lon" : -70.330399999999997 - }, - "perpetual" : false, - "points" : - [ - { - "depth" : 2.0, - "east" : 117.83291847226671, - "lat" : 43.825713999999998, - "lon" : -70.32893, - "name" : "Goto1", - "north" : 46.200319317940647, - "speed" : 2.0, - "type" : "point" - }, - { - "depth" : 2.0, - "east" : -17.18366087421261, - "lat" : 43.826782000000001, - "lon" : -70.330609999999993, - "name" : "Goto2", - "north" : 164.87635389378988, - "speed" : 2.0, - "type" : "point" - }, - { - "depth" : 2.0, - "east" : -241.19025325837993, - "lat" : 43.825465999999999, - "lon" : -70.333399999999997, - "name" : "Goto3", - "north" : 18.653618776002617, - "speed" : 2.0, - "type" : "point" - }, - { - "depth" : 2.0, - "east" : -203.76118848802312, - "lat" : 43.823234999999997, - "lon" : -70.332930000000005, - "name" : "Goto4", - "north" : -229.29782627916489, - "speed" : 2.0, - "type" : "point" - } - ], - "priority" : 10, - "repeat" : 1, - "sourceAddress" : "10.25.0.163", - "sourceName" : "CCU JHL 0_163", - "taskId" : "0,106,3,-96,8,-103,13,6,9,32,50,-13,47,-71,61,1", - "taskName" : "plan1_toMoos" - }, - "west_waypt_survey" : - { - "boardStamp" : 1698135268.3958621, - "clientStamp" : 1698135268.2057669, - "closedLoop" : true, - "constSpeed" : -1.0, - "duration" : -1.0, - "maxDepth" : -1.0, - "minDepth" : -1.0, - "origin" : - { - "altitude" : 0.0, - "lat" : 43.825298309326172, - "lon" : -70.330398559570312 - }, - "perpetual" : true, - "points" : - [ - { - "depth" : 9.0, - "east" : -91.445572043530944, - "lat" : 43.824195861816406, - "lon" : -70.331535339355469, - "name" : "station_1", - "north" : -122.49101460421512, - "speed" : 4.0 - }, - { - "depth" : 7.0, - "east" : 5.5235485468483718, - "lat" : 43.824298858642578, - "lon" : -70.330329895019531, - "name" : "station_2", - "north" : -111.04778559533926, - "speed" : 6.0 - }, - { - "depth" : 5.0, - "east" : 4.2961493948725868, - "lat" : 43.823516845703125, - "lon" : -70.330345153808594, - "name" : "station_3", - "north" : -197.93630920628678, - "speed" : 8.0 - }, - { - "depth" : 3.0, - "east" : -81.013520711457318, - "lat" : 43.823207855224609, - "lon" : -70.331405639648438, - "name" : "station_4", - "north" : -232.26737690334403, - "speed" : 10.0 - } - ], - "priority" : 10, - "repeat" : -1, - "sourceAddress" : "10.25.0.160", - "sourceName" : "CCU Neptus 0_163", - "taskId" : "2", - "taskName" : "west_waypt_survey" - } -} diff --git a/README b/README old mode 100644 new mode 100755 diff --git a/README.md b/README.md old mode 100644 new mode 100755 index 923b3b3..ef04b78 --- a/README.md +++ b/README.md @@ -1,3 +1,4 @@ + # moos-ivp-pi 基于MOOS-ivp框架下150UUV本体控制软件 @@ -19,8 +20,22 @@ bin/ : 程序执行文件存放位置 # 文件说明 -./build.sh : 编译脚本 +build.sh : 编译脚本 -./clean.sh : 清除编译生成文件 +clean.sh : 清除编译生成文件 +launch/launch.moos : Pi上的moos-ivp-pi启动脚本 +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。 + +.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。 + +setting/PlanConfigure.json : 使命文本 + +setting/ControlParam.json ： 运动控制器参数配置文件 + +setting/Origin.json ：经纬度原点配置文件 + +setting/SafetyRules.json : 安全规则配置文件 + +setting/WayConfigParam.json : 路径参数配置文件 diff --git a/alpha.moos b/alpha.moos deleted file mode 100644 index d65fb50..0000000 --- a/alpha.moos +++ /dev/null @@ -1,147 +0,0 @@ - -ServerHost = localhost -ServerPort = 9000 -Community = zjk -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 - output = src_name=uMotion_config_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 # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"} - button_two = STOP # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"} - button_three = ReConfig # uMotion_config_cmd = 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) -} \ No newline at end of file diff --git a/bin/pBoardSupportComm b/bin/pBoardSupportComm deleted file mode 100755 index 38279f7..0000000 Binary files a/bin/pBoardSupportComm and /dev/null differ diff --git a/bin/pClientViewer b/bin/pClientViewer deleted file mode 100755 index e2a649c..0000000 Binary files a/bin/pClientViewer and /dev/null differ diff --git a/bin/pDataManagement b/bin/pDataManagement deleted file mode 100755 index 2e7bd8e..0000000 Binary files a/bin/pDataManagement and /dev/null differ diff --git a/bin/pEmulator b/bin/pEmulator deleted file mode 100755 index 23d0d99..0000000 Binary files a/bin/pEmulator and /dev/null differ diff --git a/bin/pStateManagement b/bin/pStateManagement deleted file mode 100755 index 1fd94c6..0000000 Binary files a/bin/pStateManagement and /dev/null differ diff --git a/bin/pSurfaceSupportComm b/bin/pSurfaceSupportComm deleted file mode 100755 index 425fdd2..0000000 Binary files a/bin/pSurfaceSupportComm and /dev/null differ diff --git a/bin/pTaskManagement b/bin/pTaskManagement deleted file mode 100755 index 93e5dce..0000000 Binary files a/bin/pTaskManagement and /dev/null differ diff --git a/bin/placehold b/bin/placehold new file mode 100644 index 0000000..e69de29 diff --git a/build/.cmake/api/v1/query/client-vscode/query.json b/build/.cmake/api/v1/query/client-vscode/query.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/cache-v2-dd2c937f009d9a652f28.json b/build/.cmake/api/v1/reply/cache-v2-dd2c937f009d9a652f28.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/cmakeFiles-v1-a2b0be97f994224a37d6.json b/build/.cmake/api/v1/reply/cmakeFiles-v1-a2b0be97f994224a37d6.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/codemodel-v2-e5f65b12d81cb1175a33.json b/build/.cmake/api/v1/reply/codemodel-v2-e5f65b12d81cb1175a33.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pBoardSupportComm-None-6b6714a772e692ce7bda.json b/build/.cmake/api/v1/reply/target-pBoardSupportComm-None-6b6714a772e692ce7bda.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pClientViewer-None-637c837c32b7f1c4a3f8.json b/build/.cmake/api/v1/reply/target-pClientViewer-None-637c837c32b7f1c4a3f8.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pDataManagement-None-3fb8b0228e67220a29b1.json b/build/.cmake/api/v1/reply/target-pDataManagement-None-3fb8b0228e67220a29b1.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pEmulator-None-e8b09174b873ffc7a0a4.json b/build/.cmake/api/v1/reply/target-pEmulator-None-e8b09174b873ffc7a0a4.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pFaultHandle-None-96d2d6ef9203623ec32c.json b/build/.cmake/api/v1/reply/target-pFaultHandle-None-96d2d6ef9203623ec32c.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pMotionControler-None-3f183e81cc43357193c0.json b/build/.cmake/api/v1/reply/target-pMotionControler-None-3f183e81cc43357193c0.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pStateManagement-None-12c0626db4f6cdfc3816.json b/build/.cmake/api/v1/reply/target-pStateManagement-None-12c0626db4f6cdfc3816.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pSurfaceSupportComm-None-5c1b066d62accb72956a.json b/build/.cmake/api/v1/reply/target-pSurfaceSupportComm-None-5c1b066d62accb72956a.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pTaskManagement-None-97473a05e92e62137b49.json b/build/.cmake/api/v1/reply/target-pTaskManagement-None-97473a05e92e62137b49.json old mode 100644 new mode 100755 diff --git a/build/.cmake/api/v1/reply/target-pTaskSend-None-3a4f500e73d7f1e47a5a.json b/build/.cmake/api/v1/reply/target-pTaskSend-None-3a4f500e73d7f1e47a5a.json old mode 100644 new mode 100755 diff --git a/build/read.txt b/build/read.txt old mode 100644 new mode 100755 diff --git a/launch/.LastOpenedMOOSLogDirectory b/launch/.LastOpenedMOOSLogDirectory old mode 100644 new mode 100755 diff --git a/launch/alpha.bhv b/launch/alpha.bhv old mode 100644 new mode 100755 index 7a727f1..6f406a0 --- a/launch/alpha.bhv +++ b/launch/alpha.bhv @@ -12,7 +12,6 @@ set MODE = T1{ TaskNum = t1 } - //----------路径点任务---------------------------- Behavior = BHV_Waypoint { @@ -153,21 +152,22 @@ Behavior = BHV_MaxDepth { // General Behavior Parameters // --------------------------- - name = op_region // example + name = op_region_uuv // example pwt = 300 // default - condition = MODE==TN + condition = MODE == ACTIVE updates = OPREGION_UPDATES // example - + //templating = spawn // Parameters specific to this behavior // ------------------------------------ - max_time = 20 // default (seconds) - max_depth = 25 // default (meters) - min_altitude = 0 // default (meters) + max_time = 0.1 // default (seconds) + max_depth = 2 // 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} + //polygon = -160,90:275,90:275,-360:-160,-360 breached_altitude_flag = TaskFault = AltitudeOut breached_depth_flag = TaskFault = DepthOut diff --git a/launch/alpha.moos b/launch/alpha.moos old mode 100644 new mode 100755 diff --git a/launch/launch.moos b/launch/launch.moos old mode 100644 new mode 100755 index b66a8bd..eaee6fc --- a/launch/launch.moos +++ b/launch/launch.moos @@ -209,7 +209,9 @@ ProcessConfig = pTaskManagement { AppTick = 8 CommsTick = 8 - planConfigPath = /home/zjk/Desktop/project/moos-ivp-pi/setting/PlanConfigure.json + planConfigPath = /home/zjk/project/work/moos-ivp-pi/setting/PlanConfigure.json + safetyRulesPath = /home/zjk/project/work/moos-ivp-pi/setting/SafetyRules.json + wayConfigParamPath = /home/zjk/project/work/moos-ivp-pi/setting/WayConfigParam.json } ProcessConfig = pBoardSupportComm diff --git a/launch/launch_local.moos b/launch/launch_local.moos deleted file mode 100644 index 4a05c25..0000000 --- a/launch/launch_local.moos +++ /dev/null @@ -1,324 +0,0 @@ -//====================================== -//1. 在phare配置块里面添加需要的变量和调试端端口配置 -//2. Our define process中加入自定义程序 -//3. For test process 中加入配合调试的程序 - -ServerHost = localhost -ServerPort = 9000 -Simulator = true - -Community = pi - -MOOSTimeWarp = 1 - -LatOrigin = 43.825300 -LongOrigin = -70.330400 -AltOrigin = 0 - -VehicleName = lauv-150 - -LogEnable = false -LogDir = /home/jhl/project/moos-ivp-pi/log/ -AuvDataLog = auvData.mdat -MissionHistoryLog = missionHistory.txt -ClientCommandLog = clientCommand.txt -FaultLog = faultLog.txt -MotionControlLog = motionControl.txt - -llaOriginPath = /home/jhl/project/moos-ivp-pi/setting/Origin.json - -//------------------------------------------ -// Antler configuration block -ProcessConfig = ANTLER -{ - MSBetweenLaunches = 200 - //============MOOS process========================= - Run = MOOSDB @ NewConsole = false - Run = pHelmIvP @ NewConsole = false - Run = pNodeReporter @ NewConsole = false - Run = uProcessWatch @ NewConsole = false - Run = pRealm @ NewConsole = false - Run = pShare @ NewConsole = false - //Run = pMarineViewer @ NewConsole = false - //===========Our define process==================== - Run = pBoardSupportComm @ NewConsole = false - Run = pTaskManagement @ NewConsole = false - Run = pMotionControler @ NewConsole = false - Run = pSurfaceSupportComm @ NewConsole = false - Run = pDataManagement @ NewConsole = false - Run = pFaultHandle @ NewConsole = false - Run = pStateManagement @ NewConsole = false - //===============For test process=================== - Run = pEmulator @ NewConsole = false - //Run = uSimMarine @ NewConsole = false - //Run = pMarinePID @ NewConsole = false - -} - -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) -} - -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 - -} -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/jhl/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/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 -} - diff --git a/missions/alder/README b/missions/alder/README old mode 100644 new mode 100755 diff --git a/missions/alder/alder.bhv b/missions/alder/alder.bhv old mode 100644 new mode 100755 diff --git a/missions/alder/alder.moos b/missions/alder/alder.moos old mode 100644 new mode 100755 diff --git a/missions/alder/alder_orig.bhv b/missions/alder/alder_orig.bhv old mode 100644 new mode 100755 diff --git a/missions/s1_alpha/alpha.bhv b/missions/s1_alpha/alpha.bhv old mode 100644 new mode 100755 diff --git a/missions/s1_alpha/alpha.moos b/missions/s1_alpha/alpha.moos old mode 100644 new mode 100755 diff --git a/missions/xrelay/xrelay.moos b/missions/xrelay/xrelay.moos old mode 100644 new mode 100755 diff --git a/scripts/README b/scripts/README old mode 100644 new mode 100755 diff --git a/setting/ControlParam.json b/setting/ControlParam.json old mode 100644 new mode 100755 diff --git a/setting/Origin.json b/setting/Origin.json old mode 100644 new mode 100755 diff --git a/setting/PlanConfigure.json b/setting/PlanConfigure.json old mode 100644 new mode 100755 diff --git a/setting/SafetyRules.json b/setting/SafetyRules.json new file mode 100644 index 0000000..f2505b5 --- /dev/null +++ b/setting/SafetyRules.json @@ -0,0 +1,24 @@ +{ + "maxTime" : 100, + "maxDepth" : 100, + "minAltitude" : 1, + "points" : + [ + { + "east" : 90, + "north" : -160 + }, + { + "east" : 90, + "north" : 275 + }, + { + "east" : -360, + "north" : 275 + }, + { + "east" : -360, + "north" : -160 + } + ] +} \ No newline at end of file diff --git a/setting/WayConfigParam.json b/setting/WayConfigParam.json new file mode 100644 index 0000000..3760740 --- /dev/null +++ b/setting/WayConfigParam.json @@ -0,0 +1,9 @@ +{ + "lead" : 8, + "lead_damper" : 1, + "lead_to_start" : false, + "capture_line" : true, + "capture_radius" : 5, + "slip_radius" : 15, + "efficiency_measure" :"all" +} diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/pBoardSupportComm/BoardSupportComm.cpp b/src/pBoardSupportComm/BoardSupportComm.cpp old mode 100644 new mode 100755 diff --git a/src/pBoardSupportComm/BoardSupportComm.h b/src/pBoardSupportComm/BoardSupportComm.h old mode 100644 new mode 100755 diff --git a/src/pBoardSupportComm/BoardSupportComm_Info.cpp b/src/pBoardSupportComm/BoardSupportComm_Info.cpp old mode 100644 new mode 100755 diff --git a/src/pBoardSupportComm/BoardSupportComm_Info.h b/src/pBoardSupportComm/BoardSupportComm_Info.h old mode 100644 new mode 100755 diff --git a/src/pBoardSupportComm/CMakeLists.txt b/src/pBoardSupportComm/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/pBoardSupportComm/main.cpp b/src/pBoardSupportComm/main.cpp old mode 100644 new mode 100755 diff --git a/src/pBoardSupportComm/pBoardSupportComm.moos b/src/pBoardSupportComm/pBoardSupportComm.moos old mode 100644 new mode 100755 diff --git a/src/pClientViewer/Behavior.pb.h b/src/pClientViewer/Behavior.pb.h old mode 100644 new mode 100755 diff --git a/src/pClientViewer/CMakeLists.txt b/src/pClientViewer/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/pClientViewer/ClientViewer.cpp b/src/pClientViewer/ClientViewer.cpp old mode 100644 new mode 100755 diff --git a/src/pClientViewer/ClientViewer.h b/src/pClientViewer/ClientViewer.h old mode 100644 new mode 100755 diff --git a/src/pClientViewer/ClientViewer_Info.cpp b/src/pClientViewer/ClientViewer_Info.cpp old mode 100644 new mode 100755 diff --git a/src/pClientViewer/ClientViewer_Info.h b/src/pClientViewer/ClientViewer_Info.h old mode 100644 new mode 100755 diff --git a/src/pClientViewer/main.cpp b/src/pClientViewer/main.cpp old mode 100644 new mode 100755 diff --git a/src/pClientViewer/pClientViewer.moos b/src/pClientViewer/pClientViewer.moos old mode 100644 new mode 100755 diff --git a/src/pDataManagement/CMakeLists.txt b/src/pDataManagement/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/pDataManagement/DataManagement.cpp b/src/pDataManagement/DataManagement.cpp old mode 100644 new mode 100755 diff --git a/src/pDataManagement/DataManagement.h b/src/pDataManagement/DataManagement.h old mode 100644 new mode 100755 diff --git a/src/pDataManagement/DataManagement_Info.cpp b/src/pDataManagement/DataManagement_Info.cpp old mode 100644 new mode 100755 diff --git a/src/pDataManagement/DataManagement_Info.h b/src/pDataManagement/DataManagement_Info.h old mode 100644 new mode 100755 diff --git a/src/pDataManagement/main.cpp b/src/pDataManagement/main.cpp old mode 100644 new mode 100755 diff --git a/src/pDataManagement/pDataManagement.moos b/src/pDataManagement/pDataManagement.moos old mode 100644 new mode 100755 diff --git a/src/pEmulator/.LastOpenedMOOSLogDirectory b/src/pEmulator/.LastOpenedMOOSLogDirectory old mode 100644 new mode 100755 diff --git a/src/pEmulator/CMakeLists.txt b/src/pEmulator/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/pEmulator/Emulator.cpp b/src/pEmulator/Emulator.cpp old mode 100644 new mode 100755 index 451243c..98ea2bc --- a/src/pEmulator/Emulator.cpp +++ b/src/pEmulator/Emulator.cpp @@ -1,8 +1,8 @@ /* * @Author: zjk 1553836110@qq.com * @Date: 2023-10-12 09:52:27 - * @LastEditors: zjk 1553836110@qq.com - * @LastEditTime: 2023-11-21 15:28:32 + * @LastEditors: zhaojingkui 1553836110@qq.com + * @LastEditTime: 2023-11-28 11:32:48 * @FilePath: /moos-ivp-pi/src/pEmulator/Emulator.cpp * @Description: * @@ -207,6 +207,7 @@ bool Emulator::_150Connect() _150ServerThread.Start(); _150ConnectThread.RequestQuit(); isConnect = "Connected and start server"; + return true; } void Emulator::registerVariables() { @@ -377,6 +378,7 @@ bool Emulator::receiveUdpDate() } } } + return true; } void Emulator::set150Info() diff --git a/src/pEmulator/Emulator.hpp b/src/pEmulator/Emulator.hpp old mode 100644 new mode 100755 index fbd6b8c..bd7f386 --- a/src/pEmulator/Emulator.hpp +++ b/src/pEmulator/Emulator.hpp @@ -1,8 +1,8 @@ /* * @Author: zjk 1553836110@qq.com * @Date: 2023-10-12 15:57:27 - * @LastEditors: zjk 1553836110@qq.com - * @LastEditTime: 2023-11-10 08:34:14 + * @LastEditors: zhaojingkui 1553836110@qq.com + * @LastEditTime: 2023-11-28 11:32:15 * @FilePath: /moos-ivp-pi/src/pEmulator/Emulator.hpp * @Description: * @@ -45,7 +45,7 @@ typedef struct uuv double lon; double lat; double alt; -}; +}uuv; class Emulator : public AppCastingMOOSApp { diff --git a/src/pEmulator/_150server.cpp b/src/pEmulator/_150server.cpp old mode 100644 new mode 100755 index ec89abf..f39e94d --- a/src/pEmulator/_150server.cpp +++ b/src/pEmulator/_150server.cpp @@ -1,8 +1,8 @@ /* * @Author: zjk 1553836110@qq.com * @Date: 2023-11-07 14:59:47 - * @LastEditors: zjk 1553836110@qq.com - * @LastEditTime: 2023-11-08 09:19:46 + * @LastEditors: zhaojingkui 1553836110@qq.com + * @LastEditTime: 2023-11-28 18:20:41 * @FilePath: /moos-ivp-pi/src/pEmulator/_150server.cpp * @Description: * diff --git a/src/pEmulator/_150server.hpp b/src/pEmulator/_150server.hpp old mode 100644 new mode 100755 index f7049c5..3956800 --- a/src/pEmulator/_150server.hpp +++ b/src/pEmulator/_150server.hpp @@ -1,8 +1,8 @@ /* * @Author: zjk 1553836110@qq.com * @Date: 2023-11-07 14:59:36 - * @LastEditors: zjk 1553836110@qq.com - * @LastEditTime: 2023-11-07 17:12:30 + * @LastEditors: zhaojingkui 1553836110@qq.com + * @LastEditTime: 2023-11-28 18:19:10 * @FilePath: /moos-ivp-pi/src/pEmulator/_150server.hpp * @Description: * diff --git a/src/pEmulator/a.moos b/src/pEmulator/a.moos old mode 100644 new mode 100755 diff --git a/src/pEmulator/alpha.bhv b/src/pEmulator/alpha.bhv old mode 100644 new mode 100755 diff --git a/src/pEmulator/main.cpp b/src/pEmulator/main.cpp old mode 100644 new mode 100755 diff --git a/src/pEmulator/pEmulator.moos b/src/pEmulator/pEmulator.moos old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/CMakeLists.txt b/src/pFaultHandle/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/FaultHandle.cpp b/src/pFaultHandle/FaultHandle.cpp old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/FaultHandle.h b/src/pFaultHandle/FaultHandle.h old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/FaultHandle_Info.cpp b/src/pFaultHandle/FaultHandle_Info.cpp old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/FaultHandle_Info.h b/src/pFaultHandle/FaultHandle_Info.h old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/main.cpp b/src/pFaultHandle/main.cpp old mode 100644 new mode 100755 diff --git a/src/pFaultHandle/pFaultHandle.moos b/src/pFaultHandle/pFaultHandle.moos old mode 100644 new mode 100755 diff --git a/src/pMotionControler/CMakeLists.txt b/src/pMotionControler/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/pMotionControler/ControlParam.json b/src/pMotionControler/ControlParam.json old mode 100644 new mode 100755 diff --git a/src/pMotionControler/Controler.cpp b/src/pMotionControler/Controler.cpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/Controler.hpp b/src/pMotionControler/Controler.hpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/MotionControler.cpp b/src/pMotionControler/MotionControler.cpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/MotionControler.hpp b/src/pMotionControler/MotionControler.hpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/a.moos b/src/pMotionControler/a.moos old mode 100644 new mode 100755 diff --git a/src/pMotionControler/alpha.bhv b/src/pMotionControler/alpha.bhv old mode 100644 new mode 100755 diff --git a/src/pMotionControler/alpha.moos b/src/pMotionControler/alpha.moos old mode 100644 new mode 100755 diff --git a/src/pMotionControler/main.cpp b/src/pMotionControler/main.cpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/pidControl.cpp b/src/pMotionControler/pidControl.cpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/pidControl.hpp b/src/pMotionControler/pidControl.hpp old mode 100644 new mode 100755 diff --git a/src/pMotionControler/simMat.moos b/src/pMotionControler/simMat.moos old mode 100644 new mode 100755 diff --git a/src/pStateManagement/CMakeLists.txt b/src/pStateManagement/CMakeLists.txt old mode 100644 new mode 100755 index bde6d92..0e5676b --- a/src/pStateManagement/CMakeLists.txt +++ b/src/pStateManagement/CMakeLists.txt @@ -17,6 +17,9 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR}) #find_package (jsoncpp NO_MODULE REQUIRED) +find_package (GeographicLib REQUIRED) +include_directories(${GeographicLib_INCLUDE_DIRS}) + include_directories(/usr/include/jsoncpp/) link_directories(/usr/local/lib/) @@ -26,7 +29,8 @@ TARGET_LINK_LIBRARIES(pStateManagement ${MOOS_LIBRARIES} ${CMAKE_DL_LIBS} ${SYSTEM_LIBS} - ${DUNE_LIB} + ${DUNE_LIB} + ${GeographicLib_LIBRARIES} mbutil m pthread diff --git a/src/pStateManagement/StateManagement.cpp b/src/pStateManagement/StateManagement.cpp old mode 100644 new mode 100755 index 1acff87..f3ad13b --- a/src/pStateManagement/StateManagement.cpp +++ b/src/pStateManagement/StateManagement.cpp @@ -9,6 +9,7 @@ #include "MBUtils.h" #include "StateManagement.h" #include +#include using namespace std; @@ -48,6 +49,7 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail) Json::Value deviceState; std::string manualState; int missionState; + int missionState; if(key == "uManual_enable_cmd") { diff --git a/src/pStateManagement/StateManagement.h b/src/pStateManagement/StateManagement.h old mode 100644 new mode 100755 index 5da5f97..6635540 --- a/src/pStateManagement/StateManagement.h +++ b/src/pStateManagement/StateManagement.h @@ -9,6 +9,12 @@ #define StateManagement_HEADER #include "MOOS/libMOOS/MOOSLib.h" +#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" +#include +#include +#include +#include +#include class StateManagement : public CMOOSApp { diff --git a/src/pStateManagement/StateManagement_Info.cpp b/src/pStateManagement/StateManagement_Info.cpp old mode 100644 new mode 100755 diff --git a/src/pStateManagement/StateManagement_Info.h b/src/pStateManagement/StateManagement_Info.h old mode 100644 new mode 100755 diff --git a/src/pStateManagement/main.cpp b/src/pStateManagement/main.cpp old mode 100644 new mode 100755 diff --git a/src/pStateManagement/pStateManagement.moos b/src/pStateManagement/pStateManagement.moos old mode 100644 new mode 100755 diff --git a/src/pSurfaceSupportComm/CMakeLists.txt b/src/pSurfaceSupportComm/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/pSurfaceSupportComm/PeriodicTCPEvent.cpp b/src/pSurfaceSupportComm/PeriodicTCPEvent.cpp old mode 100644 new mode 100755 diff --git a/src/pSurfaceSupportComm/PeriodicTCPEvent.h b/src/pSurfaceSupportComm/PeriodicTCPEvent.h old mode 100644 new mode 100755 diff --git a/src/pSurfaceSupportComm/PeriodicUDPEvent.cpp b/src/pSurfaceSupportComm/PeriodicUDPEvent.cpp old mode 100644 new mode 100755 diff --git a/src/pSurfaceSupportComm/PeriodicUDPEvent.h b/src/pSurfaceSupportComm/PeriodicUDPEvent.h old mode 100644 new mode 100755 diff --git a/src/pSurfaceSupportComm/SurfaceSupportComm.cpp b/src/pSurfaceSupportComm/SurfaceSupportComm.cpp old mode 100644 new mode 100755 diff --git a/src/pSurfaceSupportComm/SurfaceSupportComm.h b/src/pSurfaceSupportComm/SurfaceSupportComm.h old mode 100644 new mode 100755 diff --git a/src/pSurfaceSupportComm/SurfaceSupportComm_Info.cpp b/src/pSurfaceSupportComm/SurfaceSupportComm_Info.cpp old mode 100644 new mode 100755 diff --git a/src/pSurfaceSupportComm/SurfaceSupportComm_Info.h b/src/pSurfaceSupportComm/SurfaceSupportComm_Info.h old mode 100644 new mode 100755 diff --git a/src/pSurfaceSupportComm/main.cpp b/src/pSurfaceSupportComm/main.cpp old mode 100644 new mode 100755 diff --git a/src/pSurfaceSupportComm/pSurfaceSupportComm.moos b/src/pSurfaceSupportComm/pSurfaceSupportComm.moos old mode 100644 new mode 100755 diff --git a/src/pTaskManagement/CMakeLists.txt b/src/pTaskManagement/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/pTaskManagement/TaskManger.cpp b/src/pTaskManagement/TaskManger.cpp old mode 100644 new mode 100755 index e99ccd7..5411cd1 --- a/src/pTaskManagement/TaskManger.cpp +++ b/src/pTaskManagement/TaskManger.cpp @@ -13,7 +13,7 @@ using namespace std; -#define DEBUG +// #define DEBUG //--------------------------------------------------------- @@ -45,7 +45,7 @@ bool TaskManger::OnNewMail(MOOSMSG_LIST &NewMail) { CMOOSMsg &msg = *p; string msg_name = msg.GetName(); - string msg_str = msg.GetString(); + string msg_str = msg.GetString(); double msg_dval = msg.GetDouble(); bool msg_bval = msg.GetBinaryData(); // cout << msg_name + ": " << msg_str << endl; @@ -93,7 +93,12 @@ bool TaskManger::OnNewMail(MOOSMSG_LIST &NewMail) st = 39; state = FAULT; } - + if(msg_name == MGS_SENDWAYPARAM && msg_str == "true") + { + state = CONFIG; + st = 41; + } + // 控制消息 if(msg_name == MSG_IN_SSM) { Json::Value j; @@ -134,14 +139,14 @@ bool TaskManger::OnNewMail(MOOSMSG_LIST &NewMail) Json::Value j; Json::Reader a; a.parse(msg_str,j); - int fault_level = j["FaultLevel"].asInt(); - if(fault_level != 0) + // int fault_level = j["FaultLevel"].asInt(); + if(!j["FaultLevel"].empty()) //TODO: 修改故障码支持 { state = FAULT; - faultNumber = 1111; + if(!j["FaultMsgs"].isMember("uMission_status_fault")) + faultNumber = 1111; } } - } return(true); } @@ -346,16 +351,30 @@ bool TaskManger::Iterate() { case 40: //配置安全规则 { - readSafetyRules("a"); + readTask = readSafetyRules(); + if( readTask != 0 ) + { + state = FAULT; + faultNumber = 14 + readTask; + st = 30; + faultMsg = "safetyFileError : " + intToString(readTask); + } + //发送安全规则设置 setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon); - // setMaxDepth(maxDepth); - setMaxDepth("2"); + setMaxDepth(maxDepth); st = 49; break; } case 41: //路径参数配置 { - readWayConfig("a"); + readTask = readWayConfig(); + if( readTask != 0 ) + { + state = FAULT; + faultNumber = 14 + readTask; + st = 30; + faultMsg = "safetyFileError : " + intToString(readTask); + } setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius); st = 49; //setWayConfig(); @@ -379,6 +398,8 @@ bool TaskManger::Iterate() switch (st) { case 50: // 清除变量 + FaultFlagClear(); + faultNumber = 0; current_node_complete = false; current_pol_complete = false; current_node=""; @@ -429,13 +450,32 @@ bool TaskManger::OnStartUp() if(param == "PLANCONFIGPATH") { planConfigPath = value; - RepList["CueenPath"] = planConfigPath; - } + //RepList["CueenPath"] = planConfigPath; + } + if(param == "SAFETYRULESPATH") + { + safetyRulesPath = value; + //RepList["RulesPath"] = safetyRulesPath; + } + if(param == "WAYCONFIGPARAMPATH") + { + wayParamPath = value; + RepList["WayConfigPath"] = wayParamPath; + } } } if(planConfigPath == "") reportConfigWarning("NO TASK FILE PATH"); - // readTaskFile("a"); + if(planConfigPath == "") + reportConfigWarning("NO TASK SAFETY RULES CONFIG"); + if(wayParamPath == "") + reportConfigWarning("NO WAY PARAM CONFIG"); + + readSafetyRules(); + setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon); + readWayConfig(); + setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius); + RegisterVariables(); return(true); } @@ -549,20 +589,21 @@ bool TaskManger::setTaskTimer(string timeCount) bool TaskManger::setSafetyRules(string maxTime, string maxDepth, string minAltitude, string polygon) { string msgContent=""; + // msgContent += "name=op_region#"; msgContent += "max_time="; msgContent += maxTime; msgContent += "#"; msgContent += "max_depth="; msgContent += maxDepth; - msgContent += "#"; - msgContent += "min_altitude="; - msgContent += minAltitude; + // msgContent += "#"; + // msgContent += "min_altitude="; + // msgContent += minAltitude; msgContent += "#"; msgContent += "polygon="; msgContent += polygon; - - cout << " The Op_Region parm is : " << msgContent << endl; Notify(UPDATE_OPREGION, msgContent); + cout << msgContent << endl; + // Notify(UPDATE_OPREGION, msgContent); return true; } bool TaskManger::setWayConfig(string lead, string lead_damper, string capture_line, string capture_radius,string slip_radius) @@ -583,9 +624,8 @@ bool TaskManger::setWayConfig(string lead, string lead_damper, string capture_li msgContent += "#"; msgContent += "slip_radius="; msgContent += slip_radius; - Notify(UPDATE_WPT, msgContent); - cout << "Config waypoint parm is :" << msgContent << endl; + cout << msgContent << endl; } /** @@ -599,6 +639,7 @@ void TaskManger::RegisterVariables() // Register(MSG_START, 0); Register(MSG_WPTFLAG,0); Register(MSG_SENDSAFTRULES,0); + Register(MGS_SENDWAYPARAM,0); Register(MSG_FALUT,0); Register(MSG_CLEARFAULT,0); Register(MSG_IN_SSM,0); @@ -614,7 +655,7 @@ void TaskManger::RegisterVariables() */ int TaskManger::readTaskFile(string taskName) { - int faultNubmer = 0; + int fault = 0; if(!nodeList.empty()) nodeList.clear(); ifstream ifs; @@ -631,7 +672,7 @@ int TaskManger::readTaskFile(string taskName) if (!inputJsonValue.isMember(taskName)) { RepList["Task in File"] = "False"; - return faultNubmer=1; + return fault=1; } else { @@ -639,13 +680,13 @@ int TaskManger::readTaskFile(string taskName) string node=""; currentTask = inputJsonValue[taskName]; if(currentTask["taskName"].asString() != taskName) - return faultNubmer=2; + return fault=2; double currentTask_maxTime = currentTask["duration"].asDouble(); double repeat = currentTask["repeat"].asDouble(); if(!currentTask["points"].isArray()) - return faultNubmer=3; + return fault=3; Json::Value currentTask_Points = currentTask["points"]; int ps_cnt = currentTask_Points.size(); @@ -663,7 +704,7 @@ int TaskManger::readTaskFile(string taskName) else if(node_type == "track") node_type = "@2"; else - return faultNubmer=4; + return fault=4; node = node_type; node += ","; node += node_x; @@ -688,24 +729,76 @@ int TaskManger::readTaskFile(string taskName) cout << "--------------------------------" << endl; return 0; } - -int TaskManger::readSafetyRules(string fileName) +//maxTime, maxDepth, minAltitude, safePolygon +int TaskManger::readSafetyRules() { - maxDepth = "30"; - maxTime = "1000"; - safePolygon = "pts={-80,-00:-30,-175:150,-100:95,25}"; + ifstream ifs; + ifs.open(safetyRulesPath, ios::in); + Json::Reader reader; + Json::Value inputJsonValue; + reader.parse(ifs, inputJsonValue); + ifs.close(); + if(!inputJsonValue.isMember("maxTime") + || !inputJsonValue.isMember("maxDepth") + || !inputJsonValue.isMember("minAltitude") + || !inputJsonValue.isMember("points")) + return 1; + if(!inputJsonValue["points"].isArray()) + return 2; + double time = inputJsonValue["maxTime"].asDouble() * 60; + double depth = inputJsonValue["maxDepth"].asDouble(); + double altitude = inputJsonValue["minAltitude"].asDouble(); + maxTime = doubleToString(time); + maxDepth = doubleToString(depth); + minAltitude = doubleToString(altitude); + + string pts = ""; + Json::Value points = inputJsonValue["points"]; + //"pts={-80,-00:-30,-175:150,-100:95,25}" + int ps_cnt = points.size(); + for(int i=0; i taskList; int taskCount; string taskName; diff --git a/src/pTaskManagement/TaskMangerMain.cpp b/src/pTaskManagement/TaskMangerMain.cpp old mode 100644 new mode 100755 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 -- -$$ diff --git a/src/pTaskManagement/pTaskManger.moos b/src/pTaskManagement/pTaskManger.moos old mode 100644 new mode 100755 index 1e790d3..092de1b --- a/src/pTaskManagement/pTaskManger.moos +++ b/src/pTaskManagement/pTaskManger.moos @@ -7,6 +7,8 @@ ProcessConfig = pTaskManger { AppTick = 10 CommsTick = 10 - planConfigPath = /home/zjk/Desktop/project/moos-ivp-extend/PlanConfigure.json + planConfigPath = /home/zjk/project/work/moos-ivp-pi/setting/PlanConfigure.json + safetyRulesPath = /home/zjk/project/work/moos-ivp-pi/setting/SafetyRules.json + wayConfigParamPath = /home/zjk/project/work/moos-ivp-pi/setting/WayConfigParam.json } diff --git a/src/pTaskSend/CMakeLists.txt b/src/pTaskSend/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/src/pTaskSend/TaskSend.cpp b/src/pTaskSend/TaskSend.cpp old mode 100644 new mode 100755 diff --git a/src/pTaskSend/TaskSend.h b/src/pTaskSend/TaskSend.h old mode 100644 new mode 100755 diff --git a/src/pTaskSend/TaskSendMain.cpp b/src/pTaskSend/TaskSendMain.cpp old mode 100644 new mode 100755 diff --git a/src/pTaskSend/build/.cmake/api/v1/query/client-vscode/query.json b/src/pTaskSend/build/.cmake/api/v1/query/client-vscode/query.json old mode 100644 new mode 100755 diff --git a/src/pTaskSend/build/.cmake/api/v1/reply/cache-v2-d6d942c4138e4121aadf.json b/src/pTaskSend/build/.cmake/api/v1/reply/cache-v2-d6d942c4138e4121aadf.json old mode 100644 new mode 100755 diff --git a/src/pTaskSend/build/.cmake/api/v1/reply/cmakeFiles-v1-1b864ed9ef170e655086.json b/src/pTaskSend/build/.cmake/api/v1/reply/cmakeFiles-v1-1b864ed9ef170e655086.json old mode 100644 new mode 100755 diff --git a/src/pTaskSend/build/.cmake/api/v1/reply/codemodel-v2-8cafde00da2f94adfddf.json b/src/pTaskSend/build/.cmake/api/v1/reply/codemodel-v2-8cafde00da2f94adfddf.json old mode 100644 new mode 100755 diff --git a/src/pTaskSend/build/.cmake/api/v1/reply/directory-.-Debug-f5ebdc15457944623624.json b/src/pTaskSend/build/.cmake/api/v1/reply/directory-.-Debug-f5ebdc15457944623624.json old mode 100644 new mode 100755 diff --git a/src/pTaskSend/build/.cmake/api/v1/reply/index-2023-09-21T07-09-11-0928.json b/src/pTaskSend/build/.cmake/api/v1/reply/index-2023-09-21T07-09-11-0928.json old mode 100644 new mode 100755 diff --git a/src/pTaskSend/build/.cmake/api/v1/reply/target-pTaskSend-Debug-fe070126a6f1fe44e26b.json b/src/pTaskSend/build/.cmake/api/v1/reply/target-pTaskSend-Debug-fe070126a6f1fe44e26b.json old mode 100644 new mode 100755 diff --git a/src/pTaskSend/build/.cmake/api/v1/reply/toolchains-v1-2781238ec0fa0b9996f9.json b/src/pTaskSend/build/.cmake/api/v1/reply/toolchains-v1-2781238ec0fa0b9996f9.json old mode 100644 new mode 100755 diff --git a/src/pTaskSend/display.cpp b/src/pTaskSend/display.cpp old mode 100644 new mode 100755 diff --git a/src/pTaskSend/display.h b/src/pTaskSend/display.h old mode 100644 new mode 100755 diff --git a/src/pTaskSend/pTaskSend.moos b/src/pTaskSend/pTaskSend.moos old mode 100644 new mode 100755