285 lines
6.4 KiB
Plaintext
285 lines
6.4 KiB
Plaintext
//-------------------------------------------------
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// NAME: M. Benjamin, MIT CSAIL
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// FILE: alpha.moos
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//-------------------------------------------------
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ServerHost = localhost
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ServerPort = 9000
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Community = alpha
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MOOSTimeWarp = 1
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// Forest Lake
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LatOrigin = 43.825300
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LongOrigin = -70.330400
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// MIT Sailing Pavilion (use this one)
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// LatOrigin = 42.358456
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// LongOrigin = -71.087589
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//------------------------------------------
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// Antler configuration block
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ProcessConfig = ANTLER
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{
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MSBetweenLaunches = 200
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Run = MOOSDB @ NewConsole = false
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Run = pLogger @ NewConsole = false
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//Run = uSimMarineV22 @ NewConsole = false
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//Run = pMarinePIDV22 @ NewConsole = false
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Run = pHelmIvP @ NewConsole = false
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Run = pMarineViewer @ NewConsole = false
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Run = uProcessWatch @ NewConsole = false
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Run = pNodeReporter @ NewConsole = false
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Run = pRealm @ NewConsole = false
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Run = pTaskManger @ NewConsole = false
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Run = pMotionControler @ NewConsole = false
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Run = pEmulator @ NewConsole = true
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//Run = uTimerScript @ NewConsole = false
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}
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ProcessConfig = pTaskManger
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{
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AppTick = 8
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CommsTick = 8
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planConfigPath = /home/zjk/Desktop/project/moos-ivp-extend/PlanConfigure.json
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}
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ProcessConfig = pEmulator
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{
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AppTick = 5
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CommsTick = 5
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matlab_host = 192.168.0.11
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matlab_port = 8085
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local_port = 8080
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prefix = NAV
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start_x = 10
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start_y = 9
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start_z = 1
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start_heading = 30
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}
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//------------------------------------------
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// pLogger config block
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ProcessConfig = pLogger
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{
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AppTick = 8
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CommsTick = 8
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AsyncLog = true
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// For variables that are published in a bundle on their first post,
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// explicitly declare their logging request
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//Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC
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//Log = REPORT @ 0 NOSYNC
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//Log = BHV_SETTINGS @ 0 NOSYNC
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Log = OPREGION_RESET @ 0 NOSYNC
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LogAuxSrc = true
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WildCardLogging = true
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WildCardOmitPattern = *_STATUS
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WildCardOmitPattern = DB_VARSUMMARY
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WildCardOmitPattern = DB_RWSUMMARY
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WildCardExclusionLog = true
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}
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//------------------------------------------
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// uProcessWatch config block
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ProcessConfig = uProcessWatch
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{
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AppTick = 4
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CommsTick = 4
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watch_all = true
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nowatch = uPokeDB*
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nowatch = uQueryDB*
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nowatch = uXMS*
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nowatch = uMAC*
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}
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//------------------------------------------
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// uSimMarineV22 config block
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ProcessConfig = uSimMarineV22
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{
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AppTick = 4
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CommsTick = 4
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start_pos = x=0, y=-20, heading=180, speed=5
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prefix = NAV
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turn_rate = 40
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thrust_map = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5
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//thrust_reflect = true
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buoyancy_rate = 0.075
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max_depth_rate = 5
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max_depth_rate_speed = 2.0
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default_water_depth = 400
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}
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//------------------------------------------
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// pHelmIvP config block
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ProcessConfig = pHelmIvP
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{
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AppTick = 4
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CommsTick = 4
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behaviors = alpha.bhv
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domain = course:0:359:360
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domain = speed:0:10:101
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domain = depth:0:100:101
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park_on_allstop = false
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//park_on_allstop = true
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}
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//------------------------------------------
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// pMarinePID config block
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ProcessConfig = pMotionControler
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{
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AppTick = 10
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CommsTick = 10
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verbose = true
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depth_control = true
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// SIM_INSTABILITY = 20
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// Yaw PID controller
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yaw_pid_kp = 3.0
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yaw_pid_kd = 0.0
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yaw_pid_ki = 0.01
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yaw_pid_integral_limit = 5.0
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// Speed PID controller
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speed_pid_kp = 50.0
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speed_pid_kd = 0.0
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speed_pid_ki = 10.0
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speed_pid_integral_limit = 500.0
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maxpitch = 10
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maxelevator = 30
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pitch_pid_kp = 10.0
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pitch_pid_kd = 0
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pitch_pid_ki = 0.1
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pitch_pid_integral_limit = 5.0
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z_to_pitch_pid_kp = 10.0
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z_to_pitch_pid_kd = 0
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z_to_pitch_pid_ki = 0.1
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z_to_pitch_pid_integral_limit = 1.0
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//MAXIMUMS MAXRUDDER
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maxrudder = 35
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maxthrust = 1525
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// A non-zero SPEED_FACTOR overrides use of SPEED_PID
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// Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
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speed_factor = 0
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}
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//------------------------------------------
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// pMarineViewer config block
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ProcessConfig = pMarineViewer
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{
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AppTick = 4
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CommsTick = 4
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tiff_file = forrest19.tif
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//tiff_file = MIT_SP.tif
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vehicles_name_mode = names+depth //+shortmode
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set_pan_x = -90
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set_pan_y = -280
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zoom = 0.65
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vehicle_shape_scale = 1.5
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hash_delta = 50
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hash_shade = 0.22
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hash_viewable = true
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trails_point_size = 1
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//op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa
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//op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa
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//op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa
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//op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa
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// Appcast configuration
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appcast_height = 75
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appcast_width = 30
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appcast_viewable = true
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appcast_color_scheme = indigo
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nodes_font_size = xlarge
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procs_font_size = xlarge
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appcast_font_size = large
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// datum_viewable = true
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// datum_size = 18
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// gui_size = small
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// left_context[survey-point] = DEPLOY=true
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// left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false
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// left_context[survey-point] = RETURN=false
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right_context[return] = DEPLOY=true
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right_context[return] = MOOS_MANUAL_OVERRIDE=false
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right_context[return] = RETURN=false
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scope = RETURN
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scope = WPT_STAT
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scope = VIEW_SEGLIST
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scope = VIEW_POINT
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scope = VIEW_POLYGON
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scope = MVIEWER_LCLICK
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scope = MVIEWER_RCLICK
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button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"}
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//button_one = MOOS_MANUAL_OVERRIDE=false
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button_two = STOP # START=false
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//button_two = MOOS_MANUAL_OVERRIDE=true
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button_three = FaultClear # ClearFalut = true
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button_four = SendSecurityZone # SendSaftRules = true
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action = MENU_KEY=deploy # DEPLOY = true # RETURN = false
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action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false
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action = RETURN=true
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action = UPDATES_RETURN=speed=1.4
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}
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//------------------------------------------
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// pNodeReporter config block
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ProcessConfig = pNodeReporter
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{
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AppTick = 2
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CommsTick = 2
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//platform_type = kayak
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//更改显示形状为uuv
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platform_type = UUV
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platform_color = red
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platform_length = 4
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}
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ProcessConfig = uTimerScript
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{
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AppTick = 4
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CommsTick = 4
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condition = DEPLOY = true
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randvar = varname = RND_DEPTH, min=20, max=80, key=at_reset
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event = var = DEPTH_UPDATE, val=depth=$[RND_DEPTH], time=120
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reset_max = nolimit reset_time = all-posted
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} |