rm launch_local.moos

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()

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
 {

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: 
  * 

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: 
  * 

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

src/pStateManagement/StateManagement.cpp

@@ -9,6 +9,7 @@
 #include "MBUtils.h"
 #include "StateManagement.h"
 #include <json/json.h>
+#include <cmath>
 
 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")
     {

src/pStateManagement/StateManagement.h

@@ -9,6 +9,12 @@
 #define StateManagement_HEADER
 
 #include "MOOS/libMOOS/MOOSLib.h"
+#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
+#include <DUNE/DUNE.hpp>
+#include <GeographicLib/LocalCartesian.hpp>
+#include <json/json.h>
+#include <thread>
+#include <chrono>
 
 class StateManagement : public CMOOSApp
 {

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<ps_cnt; i++)
+  {
+    string x = intToString(points[i]["north"].asInt());
+    string y = intToString(points[i]["east"].asInt());
+    if(pts=="")
+      pts = x + "," + y ;
+    else
+      pts = pts + ":" + x + "," + y ;
+  }
+  safePolygon = pts;
+  // safePolygon="pts={-80,-00:-30,-175:150,-100:9,2}";s
+  RepList["safePolygon"] = safePolygon;
+  RepList["maxTime"] = maxTime;
   return 0;
+
 }
 
-int TaskManger::readWayConfig(string filename)
+int TaskManger::readWayConfig()
 {
-  lead = "8";
-  lead_damper = "1";
-  lead_to_start = "false";
-  capture_line = "true";
-  capture_radius = "5";
-  slip_radius = "15";
-  efficiency_measure = "all";
+  ifstream ifs;
+  ifs.open(wayParamPath, ios::in);
+  Json::Reader reader;
+  Json::Value inputJsonValue;
+  reader.parse(ifs, inputJsonValue);
+  ifs.close();
+  if(!inputJsonValue.isMember("lead")
+  || !inputJsonValue.isMember("lead_damper")
+  || !inputJsonValue.isMember("lead_to_start")
+  || !inputJsonValue.isMember("capture_line")
+  || !inputJsonValue.isMember("capture_radius")
+  || !inputJsonValue.isMember("efficiency_measure")
+  || !inputJsonValue.isMember("slip_radius"))
+  return 1;
+  if(!inputJsonValue["points"].isArray())
+  return 2;
+  lead = doubleToString(inputJsonValue["lead"].asDouble());
+  lead_damper = doubleToString(inputJsonValue["lead_damper"].asDouble());
+  lead_to_start = boolToString(inputJsonValue["lead_to_start"].asBool());
+  capture_line = boolToString(inputJsonValue["capture_line"].asBool());
+  capture_radius = doubleToString(inputJsonValue["capture_radius"].asDouble());
+  slip_radius = doubleToString(inputJsonValue["slip_radius"].asDouble());
+  efficiency_measure = inputJsonValue["efficiency_measure"].asString();
+  return true;
 }
 
 /**
@@ -872,8 +965,8 @@ string  TaskManger::getNodeName(const string node)
   {
     return name;
   }
-  else
-    cout << "Warming: read Speed Parm Filed" << endl;
+  // else
+  //   cout << "Warming: read Speed Parm Filed" << endl;
   // getWord(node, 3, depth);
   return name;
 }
@@ -966,6 +1059,7 @@ bool TaskManger::buildReport()
   }
   m_msgs << "=========================================================" << endl;
   RepList["Current Node"] = current_node;
+  RepList["Fault Number"] = faultNumber;
   RepList["remaining number of nodes"] = (int)nodeList.size()+1;
   string rep = Json::writeString(RepJsBuilder, RepList);
   m_msgs << rep << endl;
@@ -991,11 +1085,6 @@ inline void TaskManger::InitConfig()
   Notify(MSG_WPTFLAG,"false");
   // Notify(MSG_START,"false");
   Notify(MSG_RUN,"false");
-  //
-  readSafetyRules("q");
-  setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon);
-  readWayConfig("a");
-  setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius);
 }
 
 void TaskManger::postReportToSSM()
@@ -1005,7 +1094,10 @@ void TaskManger::postReportToSSM()
   msg["state"] = state;
   msg["taskName"] = taskName;
   msg["destName"] = getNodeName(current_node);
-  msg["errorCode"] = faultNumber;
+  if(faultNumber == 1111)
+    msg["errorCode"] = 0;
+  else
+    msg["errorCode"] = faultNumber;
   // msg["progess"] = 
   // msg["eta"] = 
   RepList["toSSM"] = msg;

src/pTaskManagement/TaskManger.h

@@ -2,7 +2,7 @@
  * @Author: 1553836110 1553836110@qq.com
  * @Date: 2023-09-28 15:45:17
  * @LastEditors: zhaojingkui 1553836110@qq.com
- * @LastEditTime: 2023-11-23 15:29:09
+ * @LastEditTime: 2023-11-29 11:51:56
  * @FilePath: /moos-ivp-pi/src/pTaskManagement/TaskManger.h
  * @Description: 
  * 
@@ -65,8 +65,8 @@ class TaskManger : public AppCastingMOOSApp
   TaskType getTaskTpye(const string node);
 
   int readTaskFile(string taskName);
-  int readSafetyRules(string fileName);
-  int readWayConfig(string fileName);
+  int readSafetyRules();
+  int readWayConfig();
   void postReportToSSM();
   
   inline void clearHelmFlag(){Notify("HELM_MAP_CLEAR",0.0);}
@@ -90,6 +90,7 @@ class TaskManger : public AppCastingMOOSApp
   const string MSG_FALUT = "TaskFault";
   const string MSG_RUN = "RUN";
   const string MSG_CLEARFAULT = "ClearFalut";
+  const string MGS_SENDWAYPARAM = "SendWatParam"; //TODO:增加路径参数配置
 
   const string MSG_IN_SSM = "uMission_action_cmd";
   const string MSG_TO_SSM = "uMission_task_fb";
@@ -141,6 +142,8 @@ private:
 //任务文件参数
 //TODO:动态配置任务文件等参数
   string planConfigPath;
+  string safetyRulesPath;
+  string wayParamPath;
   vector<string> taskList;
   int taskCount;
   string taskName;

src/pTaskManagement/alpha.bhv

@@ -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
- }

src/pTaskManagement/alpha.moos

@@ -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
-}

src/pTaskManagement/clean.sh

@@ -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

src/pTaskManagement/launch.sh

@@ -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 -- -$$

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
 }