diff --git a/launch/launch_local.moos b/launch/launch_local.moos deleted file mode 100644 index 2d914e1..0000000 --- a/launch/launch_local.moos +++ /dev/null @@ -1,328 +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 = true -//LogDir = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/log/ -LogDir = /home/ben/project/moos-ivp-pi/log/ -AuvDataLog = auvData.mdat -MissionHistoryLog = missionHistory.txt -ClientCommandLog = clientCommand.txt -FaultLog = faultLog.txt -MotionControlLog = motionControl.txt - -//llaOriginPath = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/Origin.json -llaOriginPath = /home/ben/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/zjk/Desktop/project/moos-ivp-pi/setting/PlanConfigure.json - planConfigPath = /home/ben/project/moos-ivp-pi/setting/PlanConfigure.json - -} - -ProcessConfig = pBoardSupportComm -{ - AppTick = 5 - CommsTick = 5 -} - -ProcessConfig = uSimMarine -{ - AppTick = 10 - CommsTick = 10 - - START_X = 0 - START_Y = 0 - START_SPEED = 0 - START_HEADING = 180 - - PREFIX = NAV -} - -ProcessConfig = pMarinePID -{ - AppTick = 20 - CommsTick = 20 - - VERBOSE = true - DEPTH_CONTROL = false - - // Yaw PID controller - YAW_PID_KP = 0.5 - YAW_PID_KD = 0.0 - YAW_PID_KI = 0.0 - YAW_PID_INTEGRAL_LIMIT = 0.07 - - // Speed PID controller - SPEED_PID_KP = 1.0 - SPEED_PID_KD = 0.0 - SPEED_PID_KI = 0.0 - SPEED_PID_INTEGRAL_LIMIT = 0.07 - - //MAXIMUMS - MAXRUDDER = 100 - MAXTHRUST = 100 - - // A non-zero SPEED_FACTOR overrides use of SPEED_PID - // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR - SPEED_FACTOR = 20 - -} - -ProcessConfig = pMotionControler -{ - AppTick = 5 - CommsTick = 5 - tardy_nav_thresh = 2.0 - tardy_helm_thresh = 2.0 - - cheak_stalensee = true - delta_freqency = 5 - - //config_file = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/ControlParam.json - config_file = /home/ben/project/moos-ivp-pi/setting/ControlParam.json -} - -ProcessConfig = pEmulator -{ - AppTick = 5 - CommsTick = 5 - matlab_host = 10.25.0.137 - matlab_port = 8085 - local_port = 8080 - prefix = NAV - - start_x = 10 - start_y = 9 - start_z = 1 - start_heading = 30 -} - -ProcessConfig = pDataManagement -{ - AppTick = 4 - CommsTick = 4 -} - -ProcessConfig = pLogger -{ - AppTick = 8 - CommsTick = 8 - - AsyncLog = true - FileTimeStamp = true - - // For variables that are published in a bundle on their first post, - // explicitly declare their logging request - Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC - Log = REPORT @ 0 NOSYNC - - LogAuxSrc = true - WildCardLogging = true - WildCardOmitPattern = *_STATUS - WildCardOmitPattern = DB_VARSUMMARY - WildCardOmitPattern = DB_RWSUMMARY - WildCardExclusionLog = true -} -ProcessConfig = pFaultHandle -{ - AppTick = 4 - CommsTick = 4 -} -