rm launch_local.moos

.gitignore

@@ -101,7 +101,7 @@ dkms.conf
 
 /log
 /launch/launch_local.moos
-bin/
+bin/*
-build/
+/build/
 /scripts
 /.vscode

PlanConfigure.json

@@ -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"
-	}
-}

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

alpha.moos

@@ -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)
-}

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_time = 0.1              // default (seconds)
-                 max_depth = 25              // default (meters)
+                 max_depth = 2              // default (meters)
-              min_altitude = 0              // 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

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

launch/launch_local.moos

@@ -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
-}
-

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
+        }
+    ]
+}

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"
+}

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
+ * @LastEditors: zhaojingkui 1553836110@qq.com
- * @LastEditTime: 2023-11-21 15:28:32
+ * @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
+ * @LastEditors: zhaojingkui 1553836110@qq.com
- * @LastEditTime: 2023-11-10 08:34:14
+ * @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
+ * @LastEditors: zhaojingkui 1553836110@qq.com
- * @LastEditTime: 2023-11-08 09:19:46
+ * @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
+ * @LastEditors: zhaojingkui 1553836110@qq.com
- * @LastEditTime: 2023-11-07 17:12:30
+ * @LastEditTime: 2023-11-28 18:19:10
  * @FilePath: /moos-ivp-pi/src/pEmulator/_150server.hpp
  * @Description: 
  *