Release Notes for Version 4.1 (Aug 24, 2010)

  • Release 4.1 contains r.2300 from the Oxford MOOS tree. (see nested repositories)
  • Release 4.1 is built directly from r.2847 from the MOOS-IvP tree.

r2842 | mikerb | 2010-08-17 22:23:19 -0400 (Tue, 17 Aug 2010) | 1 line

mod to pMarinePID to also register for MOOS_MANUAL_OVERRIDE

r2840 | mikerb | 2010-08-17 22:20:06 -0400 (Tue, 17 Aug 2010) | 1 line

changes to AOF_AvoidCollisionDepth to accommodate collision avoidance at depth

r2839 | mikerb | 2010-08-17 22:17:57 -0400 (Tue, 17 Aug 2010) | 1 line

changes to BHV_AvoidCollision to handle collision by depth change

r2838 | mikerb | 2010-08-17 22:15:55 -0400 (Tue, 17 Aug 2010) | 1 line

minor expansion to OF_Reflector interface to accommodate changes for depth collision avoidance

r2833 | mikerb | 2010-08-16 13:04:52 -0400 (Mon, 16 Aug 2010) | 1 line

fixed double-free error in HelmReporter.cpp to check for non-null file_ptr before calling fclose - thanks Chris Gagner for the bug report.

r2826 | mikerb | 2010-08-06 10:25:32 -0400 (Fri, 06 Aug 2010) | 1 line

fixed bug in process that reads behavior files, whereby behaviors listed after one that uses spawning would not be recognized - thanks Stephanie Kemna

r2802 | mikerb | 2010-07-18 22:15:43 -0400 (Sun, 18 Jul 2010) | 1 line

merged in development branch with moderate changes, most notably changes to clarify the notion of all-stop, and a laundary list of benign compiler warnings

Primary new changes to the helm include better support for the notion of helm "all-stop". The helm explicitly stores an all-stop status and posts a new variable IVPHELM_ALLSTOP to indicate why the helm may have come to an all-stop.

r2768 | mikerb | 2010-06-22 06:51:27 -0400 (Tue, 22 Jun 2010) | 1 line

minor change to pMarinePID to all the tardy threshold to be set by TARDY_THRESHOLD=secs rather than hardcoded to 2 seconds

r2749 | mikerb | 2010-06-13 15:51:04 -0400 (Sun, 13 Jun 2010) | 1 line

IvPBehavior augmented to addInfoVar to allow info vars to no not trigger a warning should they not be found in an info_buffer query

r2735 | gagnercw | 2010-06-04 23:26:53 -0400 (Fri, 04 Jun 2010) | 4 lines

Updated the CMakeLists.txt file to all Mac users to use the default MacPorts directory for linking libraries.

r2715 | mikerb | 2010-05-10 15:11:17 -0400 (Mon, 10 May 2010) | 1 line

merged in development branch

  1. The IvP Helm now strictly enforces the rule that behaviors must have unique names - due to the way that dynamic behavior spawning was implemented in this release.
  2. Dynamic behavior spawning has been implemented. Behaviors specified in the .bhv files may be used as templates for spawning new behaviors based on incoming messages through the UPDATES parameter. Templating is enabled via "templating=clone" or "templating=spawn" configurations for the behavior.
  3. As part of the dynamic behavior spawning implementation, the .bhvfile "populator" methods were nearly completely re-written.
  4. The helm no longer publishes UH_*, PC_*, PWT_*, STATE_* MOOS variables for each behavior. A single BHV_STATUS publication is made for each behavior automatically, with the name of the behavior specified in in one of the fields.
  5. IvPBehavior *flags parameters: all flags posted by a helm behavior, activeflag, inactiveflag, idleflag, endflag, runflag, may now contain one of four macros in postings of strings. OWNSHIP will expand to the name of ownship (the name of the MOOS community), BHVNAME will expand to the behavior name, BHVTYPE will expand to the behavior type, and CONTACT will expand to the contact name for contact-related behaviors.
  6. The s5_echo mission was added to ivp/missions/ to demonstrate the dynamic spawning of behaviors.
  7. The m2_berta mission was added to ivp/missions/ to demonstrate the dynamic spawning of behaviors, collision avoidance behavior, and the pBasicContactMgr application.
  8. The pBasicContactMgr application was added to the repository. It works with the new helm feature for dynamic behavior spawning.
  9. IvPBehavior::onComplete() is implemented as a virtual function to be overloaded by behavior authors. It is called once, only when the behavior enters the complete state, prior to being deleted from the helm.
  10. Bug fix: when behaviors complete due to a timeout, via the duration parameter, they would enter the idle state for one last iteration, and invoke the onIdleState() functions before completing. It now goes directly into the complete state on the very iteration its duration times-out.
  11. LifeEvents are defined in lib_behaviors, to mean the spawning, or death of a behavior. Or when a behavior spawning is aborted. The helm publishes a new variable IVPHELM_LIFE_EVENT whenever a life event occurs.
  12. The uHelmScope application registers for IVPHELM_LIFE_EVENT posts from pHelmIvP and may generate a "life event" report by toggling the 'L' key.
  13. The aloghelm utility was added to generate a life-event report for a given alog file, based on the IVPHELM_LIFE_EVENT posts logged.

r2505 | mikerb | 2010-02-11 08:56:00 -0500 (Thu, 11 Feb 2010) | 1 line

fixed bug regarding RESTART_HELM which did not trigger an initial time-set to the new information buffer, causing time queries to the info_buffer to be artificially huge.

r2487 | mikerb | 2010-01-23 20:31:39 -0500 (Sat, 23 Jan 2010) | 1 line

mods to app_logview to support bearing_line artifacts

pMarineViewer now accepts BEARING_LINE artifacts to render a bearing line for a given vehicle, presumably to render directional sensor information.

r2483 | mikerb | 2010-01-22 22:57:09 -0500 (Fri, 22 Jan 2010) | 1 line

minor change to the HelmIvP class to ensure that info_buffer timestamps are updated only once per iteration

This fixes a bug where calls to getBufferTimeValue(varname) were returning nonzero time durations even if a variable was updated on the current iteration.

r2474 | mikerb | 2010-01-09 15:44:33 -0500 (Sat, 09 Jan 2010) | 1 line

added ability to treat uTimerScript scripts atomic

uTimerScript scripts may be designated as atomic (script_atomic = true).

r2473 | mikerb | 2010-01-09 15:33:54 -0500 (Sat, 09 Jan 2010) | 1 line

changes and improvements to iMarineSim.

Minor enhancement: iMarinesim accepts a IMS_DECELERATION parameter for adjusting how the vehicle decelerates through the water.

Interface change iMarineSim: The default prefix to variables published changed from MARINESIM_ to IMS_. For example MARINESIM_X would now be published as IMS_X. When iMarineSim is used as a proxy for navigation generating NAV_* data, it is still recommended to explicitly set the iMarineSim prefix to NAV_ in the config block.

Signficant enhancement: iMarineSim accepts IMS_FORCE_VECTOR and IMS_FORCE_VECTOR_ADD for accepting outside influence in generating simulated force vectors simulating for example wind gusts. See documentation for uTimerScript.

r2472 | mikerb | 2010-01-09 15:17:32 -0500 (Sat, 09 Jan 2010) | 1 line

added slip_radius as an alternative parameter designation in place of nm_radius in te BHV_Waypoint behavior

Minor enhancement: Added slip_radius as an alternative parameter designation in place of nm_radius in the BHV_Waypoint behavior.

r2471 | mikerb | 2010-01-09 15:07:44 -0500 (Sat, 09 Jan 2010) | 1 line Augmented pMarineViewer to allow for configuration of left and right mouse clicks with macro expansion.

Significant enhancement: Augmented pMarineViewer to allow for configuration of left and right mouse clicks with macroexpansion. See the helm documentation looking for the MOOS variable MVIEWER_LCLICK in the index. Also see for example the s4_delta example mission.

Minor Enhancement: Added "stale_report_thresh" parameter to pMarineViewer to allow for configuration greater than the default 5 seconds before "STALE-REPORT" message is displayed.

r2470 | mikerb | 2010-01-09 08:24:31 -0500 (Sat, 09 Jan 2010) | 1 line

mod to Populator_BehaviorSet to allow multiple inits on one line

Minor enhancement: Augmented .bhv file syntax to accept multiple initializations on a single line, e.g. "initialize FOO=true, BAR=false". The file lib_helmivp/PopulatorBehaviorSet.cpp was edited.