Release Notes for Version 4.0.1 (Dec 03, 2009)

  • Release 4.0.1 contains r.2300 from the Oxford MOOS tree. (see nested repositories)
  • Release 4.0.1 is built directly from r.2403 from the MOOS-IvP tree.
  • IMPORTANT FIX: Affects uTimerScript, pMarineViewer, perhaps other MOOS Apps. Pulled in a new version of MOOS (r.2300) that contains an additional function, MissionReader::EnableVerbatimQuoting(bool). Calling this prior to MissionReader::GetConfiguration() allows the double-quotes to be retained in the incoming string from the mission file, as was done by default in MOOS r.2292, but changed in MOOS r.2295.
  • IMPORTANT FIX: Affects at least uTimerScript and pMarineViewer. Changed all MOOS-IvP applications to invoke MissionReader::EnableVerbatimQuoting(false) prior to reading MOOS file configuration lines, to retain the double-quotes. In Release 4.0 the applications uTimerScript and pMarineViewer, at least, would not operate as advertised due to the dropping of double-quotes in mission configuration lines.
  • MINOR FIX: Affects most apps. Changed many of the MOOS-IvP main.cpp implementations to check for .moos++ files as well as .moos files. The .moos++ files are generated when using MOOSTimeWarp.
  • MINOR IMPROVEMENT: Affects pHelmIvP. The IvPBehavior::postWMessage() was modified to NOT post a warning when passed an empty string.
  • MINOR FIX: Affects uTimerScript. Modified uTimerScript to support --help, and report a Usage message when no .moos file is provided (standard practice across apps).
  • MINOR IMPROVEMENT: Affects pHelmIvP. Modified BHV_ConstantSpeed to accept a summit_delta parameter specification.
  • MINOR FIX: Affects pHelmIvP. Modified BHV_ConstantSpeed to return BHV_ERROR in the case where an IvP function generation fails, and post warnings in the case where the ZAIC produces warnings.
  • MINOR FIX: Affects pHelmIvP. Modified BHV_ConstantDepth to return BHV_ERROR in the case where an IvP function generation fails, and post warnings in the case where the ZAIC produces warnings.
  • MINOR IMPROVEMENT: Affects pHelmIvP. Modified BHV_ConstantHeading to accept a summit_delta parameter specification.
  • MINOR FIX: Affects pHelmIvP. Modified BHV_ConstantHeading to return BHV_ERROR in the case where an IvP function generation fails, and post warnings in the case where the ZAIC produces warnings.
  • MINOR IMPROVEMENT: Affects pHelmIvP. Modified ZAIC_PEAK to be more gracious in accepting parameters. For example, basewidth, peakwidth < 0 is clipped to zero and a warning is generated, rather than declaring the ZAIC to be in a broken state and unable to produce an function. This issue was biting folks in the field where a basewidth was inadvertantly set to < zero due to being tied to vehicle altitude. Although this should be caught in the behavior, it seems the ZAIC was unnecessarily harsh in dealing with this.
  • MINOR IMPROVEMENT: Affects pHelmIvP. Removed BHV_ConstantDepth::handleConditionalParam() as it was never fully implemented or used.
  • MINOR IMPROVEMENT: Affects pHelmIvP. Modified BHV_Shadow to check for ZAIC failures and post warnings and a BHV_ERROR in case of errors. Also enforced that max_range parameter must be a non-negative numerical val.