ServerHost = localhost ServerPort = $(MOOS_PORT) Community = $(VNAME) #include plugs.moos <origin_warp> //------------------------------------------------------------ Processconfig = ANTLER { MSBetweenLaunches = 50 Run = MOOSDB @ NewConsole = false Run = pMarinePID @ NewConsole = false Run = pLogger @ NewConsole = false Run = pNodeReporter @ NewConsole = false Run = pHelmIvP @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pContactMgrV20 @ NewConsole = false Run = pShare @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldNodeBroker @ NewConsole = false Run = uFldMessageHandler @ NewConsole = false Run = uTimerScript @ NewConsole = false Run = pRealm @ NewConsole = false #ifdef VROLE rescue Run = pGenRescue @ NewConsole = false #endif #ifdef XMODE SIM Run = uSimMarine @ NewConsole = false #elseifdef XMODE M300 Run = iM300 @ NewConsole = false Run = iM300Health @ NewConsole = false #endif } #ifdef XMODE SIM #include plugs.moos <uSimMarine> #elseifdef XMODE M300 #include plugs.moos <iM300> #include plugs.moos <iM300Health> #endif #include plugs.moos <pShare> #include plugs.moos <pHostInfo> #include plugs.moos <uProcessWatch> //------------------------------------------- // pHelmIvP config block ProcessConfig = pHelmIvP { AppTick = 4 CommsTick = 4 ok_skew = any app_logging = true behaviors = targ_$(VNAME).bhv verbose = false domain = course:0:359:360 domain = speed:0:3:31 hold_on_app = pContactMgrV20 goals_mandatory = true } //------------------------------------------ // pGenRescue config block ProcessConfig = pGenRescue { #ifdef VNAME abe // foo = true #elseifdef VNAME ben // foo = false #else // foo = maybe #endif } //------------------------------------------ // uTimerScript config block ProcessConfig = uTimerScript { reset_max = unlimited reset_time = end #ifdef VROLE rescue event = var=RESCUE_REQUEST, val=vname=$(VNAME), time=1 #elseifdef VROLE scout event = var=SCOUT_REQUEST, val="vname=$(VNAME),tmate=$(TMATE)", time=1 #endif } //------------------------------------------ // pRealm config block ProcessConfig = pRealm { AppTick = 4 CommsTick = 4 hist_var = MOB_ALERT hist_var = FOUND_SWIMMER scope_set = name=msgs, vars=MOB_ALERT:FOUND_SWIMMER } //-------------------------------------------------- // uFldMessageHandler config block ProcessConfig = uFldMessageHandler { AppTick = 3 CommsTick = 3 strict_addressing = false } //-------------------------------------------------- // uFldNodeBroker config block ProcessConfig = uFldNodeBroker { AppTick = 1 CommsTick = 1 try_shore_host = pshare_route=$(SHORE_IP):$(SHORE_PSHARE) bridge = src=COLREGS_AVOID_MODE bridge = src=AVDCOL_MODE bridge = src=VIEW_POLYGON bridge = src=VIEW_POINT bridge = src=VIEW_SEGLIST bridge = src=APPCAST bridge = src=BCM_DETECTION_DIST bridge = src=NODE_REPORT_LOCAL, alias=NODE_REPORT bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE bridge = src=VIEW_COMMS_PULSE bridge = src=RESCUE_REQUEST bridge = src=SCOUT_REQUEST } //-------------------------------------------------------- // pContactMgrV20 config block ProcessConfig = pContactMgrV20 { AppTick = 2 CommsTick = 2 decay = 30,60 alert_verbose = true post_all_ranges = true contact_max_age = 35 display_radii_id = avd display_radii = false alert_range_color = gray70 cpa_range_color = gray30 } //-------------------------------------------------------- // pNodeReporter config block ProcessConfig = pNodeReporter { AppTick = 6 CommsTick = 6 #ifdef VROLE rescue platform_type = KAYAK #elseifdef VROLE fixed platform_type = KAYAK #elseifdef VROLE scout platform_type = heron #else platform_type = ship #endif platform_length = 3 platform_color = $(COLOR) allow_color_change = true } //--------------------------------------- // pMarinePID Config Block ProcessConfig = pMarinePID { AppTick = 10 CommsTick = 10 deprecated_ok = true verbose = true depth_control = false active_start = true // Yaw PID controller (Set for M300) yaw_pid_kp = 0.9 yaw_pid_kd = 0.3 yaw_pid_ki = 0.3 yaw_pid_integral_limit = 0.3 // Speed PID controller speed_pid_kp = 1.0 speed_pid_kd = 0.0 speed_pid_ki = 0.0 speed_pid_integral_limit = 0.07 // Maximums maxrudder = 100 // 100 maxthrust = 100 // A non-zero SPEED_FACTOR overrides use of SPEED_PID // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR //SPEED_FACTOR = 20 } //-------------------------------------------------- // pLogger Config Block ProcessConfig = pLogger { AppTick = 10 CommsTick = 10 File = LOG_%(VNAME) PATH = ./ AsyncLog = true FileTimeStamp = true Log = IVPHELM_LIFE_EVENT @ 0 nosync Log = SURVEY_UPDATE @ 0 nosync Log = TEAM_ROSTER_DEBUG @ 0 nosync Log = TSK_DEBUG @ 0 nosync Log = TASK_DEBUG @ 0 nosync Log = H_DEBUG @ 0 nosync // Log it all!!!!! LogAuxSrc = true WildCardLogging = true WildCardOmitPattern = *_STATUS WildCardOmitPattern = APPCAST WildCardOmitPattern = DB_VARSUMMARY WildCardOmitPattern = DB_RWSUMMARY CompressAlogs = false }