//******************************************************* // ShoreSide Configuration File ServerHost = localhost ServerPort = 9000 Community = shoreside #include plug_origin_warp.moos //-------------------------------------------------------- Processconfig = ANTLER { MSBetweenLaunches = 150 Run = MOOSDB @ NewConsole = false Run = pMarineViewer @ NewConsole = false Run = pLogger @ NewConsole = false Run = pShare @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldShoreBroker @ NewConsole = false Run = uFldNodeComms @ NewConsole = false Run = uFldHazardSensor @ NewConsole = false Run = uFldHazardMetric @ NewConsole = false } #include plug_pHostInfo.moos #include plug_pLogger.moos //--------------------------------------------------------- // pShare Config Block ProcessConfig = pShare { AppTick = 2 CommsTick = 2 input = route = $(SHOREIP):$(SHORE_LISTEN) //input = route = multicast_9 } //-------------------------------------------------- // uFldShoreBroker Configuration Block ProcessConfig = uFldShoreBroker { AppTick = 1 CommsTick = 1 // Note: [qbridge = FOO] is shorthand for // [bridge = src=FOO_$V, alias=FOO] and // [bridge = src=FOO_ALL, alias=FOO] qbridge = DEPLOY, RETURN, NODE_REPORT, NODE_MESSAGE qbridge = MOOS_MANUAL_OVERRIDE, STATION, SURVEY bridge = src=APPCAST_REQ bridge = src=UHZ_MISSION_PARAMS bridge = src=UHZ_OPTIONS_SUMMARY bridge = src=UHZ_CONFIG_ACK_$V, alias=UHZ_CONFIG_ACK bridge = src=UHZ_HAZARD_REPORT_$V, alias=UHZ_HAZARD_REPORT bridge = src=UHZ_DETECTION_REPORT_$V, alias=UHZ_DETECTION_REPORT bridge = src=HAZARDSET_REQUEST_ALL, alias=HAZARDSET_REQUEST } //-------------------------------------------------- // uFldNodeComms Configuration Block ProcessConfig = uFldNodeComms { AppTick = 2 CommsTick = 2 comms_range = 1000 critical_range = 25 min_msg_interval = 60 max_msg_length = 100 //comms_range = 100000 //critical_range = 25 //min_msg_interval = 0 //max_msg_length = 100000 groups = true view_node_rpt_pulses = true } //-------------------------------------------------- // uFldHazardMetric Configuration Block ProcessConfig = uFldHazardMetric { AppTick = 4 CommsTick = 4 penalty_missed_hazard = $(PEN_MISSED_HAZ) penalty_false_alarm = $(PEN_FALARM) max_time = $(MAX_TIME) penalty_max_time_over = 300 penalty_max_time_rate = 0.25 show_xpath = false hazard_file = $(HAZARD_FILE) } //-------------------------------------------------- // uFldHazardSensor Configuration Block ProcessConfig = uFldHazardSensor { AppTick = 4 CommsTick = 4 ignore_resemblances=true max_appcast_events = 20 sensor_config = width=5, exp=8, pclass=0.88, max=1 sensor_config = width=10, exp=6, pclass=0.70 sensor_config = width=25, exp=4, pclass=0.63 sensor_config = width=50, exp=2, pclass=0.55 swath_length = 5 default_hazard_shape = triangle default_benign_shape = square min_classify_interval = 30 min_reset_interval = 300 swath_transparency = 0.35 seed_random = false options_summary_interval = 5 show_swath=true show_hazards=true show_reports=30 hazard_file = $(HAZARD_FILE) } //-------------------------------------------------------- ProcessConfig = pMarineViewer { AppTick = 4 CommsTick = 4 TIFF_FILE = AerialMIT.tif set_pan_x = -32 set_pan_y = 200 zoom = 1.3 vehicles_shape_scale = 1.5 vehicles_name_mode = names+shortmode marker_viewable_labels = false appcast_width = 30 nodes_font_size=xlarge procs_font_size=large appcast_viewable = true appcast_color_scheme = indigo SCOPE = UHZ_HAZARD_REPORT //ACTION = STATION_ALL = true button_one = DEPLOY_ALL # DEPLOY_ALL=true button_one = MOOS_MANUAL_OVERRIDE_ALL=false button_one = RETURN_ALL=false button_one = HAZARD_SEARCH_START=true button_one = STATION_ALL=false # SURVEY_ALL=true button_two = RETURN_ALL # RETURN_ALL=true button_two = STATION_ALL=false button_three = STATION_ALL # STATION_ALL=true button_three = DEPLOY_ALL=true button_three = RETURN_ALL=false button_four = REQ_REPORT # HAZARDSET_REQUEST_ALL=true }