329 lines
8.6 KiB
Plaintext
329 lines
8.6 KiB
Plaintext
//======================================
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//1. 在phare配置块里面添加需要的变量和调试端端口配置
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//2. Our define process中加入自定义程序
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//3. For test process 中加入配合调试的程序
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ServerHost = localhost
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ServerPort = 9000
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Simulator = true
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Community = pi
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MOOSTimeWarp = 1
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LatOrigin = 43.825300
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LongOrigin = -70.330400
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AltOrigin = 0
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VehicleName = lauv-150
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LogEnable = true
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//LogDir = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/log/
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LogDir = /home/ben/project/moos-ivp-pi/log/
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AuvDataLog = auvData.mdat
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MissionHistoryLog = missionHistory.txt
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ClientCommandLog = clientCommand.txt
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FaultLog = faultLog.txt
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MotionControlLog = motionControl.txt
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//llaOriginPath = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/Origin.json
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llaOriginPath = /home/ben/project/moos-ivp-pi/setting/Origin.json
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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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//============MOOS process=========================
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Run = MOOSDB @ NewConsole = false
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Run = pHelmIvP @ NewConsole = false
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Run = pNodeReporter @ NewConsole = false
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Run = uProcessWatch @ NewConsole = false
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Run = pRealm @ NewConsole = false
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//Run = pShare @ NewConsole = false
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Run = pMarineViewer @ NewConsole = false
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//===========Our define process====================
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Run = pBoardSupportComm @ NewConsole = false
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Run = pTaskManagement @ NewConsole = false
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//Run = pMotionControler @ NewConsole = false
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Run = pSurfaceSupportComm @ NewConsole = false
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Run = pDataManagement @ NewConsole = false
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Run = pFaultHandle @ NewConsole = false
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Run = pStateManagement @ NewConsole = false
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//===============For test process===================
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//Run = pEmulator @ NewConsole = false
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Run = uSimMarine @ NewConsole = false
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Run = pMarinePID @ NewConsole = false
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}
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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 # START=true
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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 # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"}
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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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cmd = label=DEPLOY, var=DEPLOY, sval=true, receivers=all:$(VNAMES)
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cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE, sval=false, receivers=all:$(VNAMES)
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cmd = label=DEPLOY, var=AVOID, sval=true, receivers=all:$(VNAMES)
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cmd = label=DEPLOY, var=RETURN, sval=false, receivers=all:$(VNAMES)
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cmd = label=DEPLOY, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES)
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cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES)
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cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES)
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cmd = label=PERMUTE, var=UTS_FORWARD, dval=0, receivers=shore
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cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES), color=pink
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cmd = label=LOITER-FAST, var=UP_LOITER, sval=speed=2.8, receivers=all:$(VNAMES)
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cmd = label=LOITER-SLOW, var=UP_LOITER, sval=speed=1.4, receivers=all:$(VNAMES)
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cmd = label=LOITER-CLOCKWISE-TRUE, var=UP_LOITER, sval=clockwise=true, receivers=all:$(VNAMES)
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cmd = label=LOITER-CLOCKWISE-FALSE, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES)
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cmd = label=LOITER-CLOCKWISE-BEST, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES)
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}
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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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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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nowatch = pShare*
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nowatch = pRealm*
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nowatch = pNodeReporter*
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}
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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 = UUV
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platform_color = red
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platform_length = 4
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}
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ProcessConfig = pShare
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{
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AppTick = 2
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CommsTick = 2
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//UUV 信息
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output = src_name = NODE_REPORT*, route = 10.25.0.160:8085
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output = src_name = NODE_REPORT*, route = 10.25.0.248:8085
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output = src_name = NODE_REPORT*, route = 10.25.0.165:8085
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//App 信息
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output = src_name = APPCAST*, route = 10.25.0.160:8085
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output = src_name = APPCAST*, route = 10.25.0.165:8085
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output = src_name = APPCAST*, route = 10.25.0.248:8085
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//路径点信息
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output = src_name = VIEW*, route = 10.25.0.160:8085
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output = src_name = VIEW*, route = 10.25.0.165:8085
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output = src_name = VIEW*, route = 10.25.0.248:8085
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//调试端输入端口
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input = route = localhost:8081
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input = route = localhost:8082
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input = route = localhost:8083
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}
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ProcessConfig = pTaskManagement
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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-pi/setting/PlanConfigure.json
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planConfigPath = /home/ben/project/moos-ivp-pi/setting/PlanConfigure.json
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}
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ProcessConfig = pBoardSupportComm
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{
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AppTick = 5
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CommsTick = 5
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}
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ProcessConfig = uSimMarine
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{
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AppTick = 10
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CommsTick = 10
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START_X = 0
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START_Y = 0
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START_SPEED = 0
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START_HEADING = 180
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PREFIX = NAV
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}
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ProcessConfig = pMarinePID
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{
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AppTick = 20
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CommsTick = 20
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VERBOSE = true
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DEPTH_CONTROL = false
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// Yaw PID controller
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YAW_PID_KP = 0.5
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YAW_PID_KD = 0.0
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YAW_PID_KI = 0.0
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YAW_PID_INTEGRAL_LIMIT = 0.07
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// Speed PID controller
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SPEED_PID_KP = 1.0
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SPEED_PID_KD = 0.0
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SPEED_PID_KI = 0.0
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SPEED_PID_INTEGRAL_LIMIT = 0.07
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//MAXIMUMS
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MAXRUDDER = 100
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MAXTHRUST = 100
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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 = 20
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}
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ProcessConfig = pMotionControler
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{
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AppTick = 5
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CommsTick = 5
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tardy_nav_thresh = 2.0
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tardy_helm_thresh = 2.0
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cheak_stalensee = true
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delta_freqency = 5
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//config_file = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/ControlParam.json
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config_file = /home/ben/project/moos-ivp-pi/setting/ControlParam.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 = 10.25.0.137
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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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ProcessConfig = pDataManagement
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{
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AppTick = 4
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CommsTick = 4
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}
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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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FileTimeStamp = 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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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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ProcessConfig = pFaultHandle
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{
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AppTick = 4
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CommsTick = 4
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}
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