//******************************************************* // ShoreSide Configuration File ServerHost = localhost ServerPort = $(SPORT) Community = $(SNAME) #include plug_origin_warp.moos //-------------------------------------------------------- Processconfig = ANTLER { MSBetweenLaunches = 100 Run = MOOSDB @ NewConsole = false Run = pMarineViewer @ NewConsole = false Run = pLogger @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pShare @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldShoreBroker @ NewConsole = false Run = uFldNodeComms @ NewConsole = false Run = uFldFlagManager @ NewConsole = false Run = uFldTagManager @ NewConsole = false Run = uFldZoneEvent @ NewConsole = false ~ UFZEred Run = uFldZoneEvent @ NewConsole = false ~ UFZEblue } //------------------------------------------------ // uFldZoneEvent config block ProcessConfig = UFZEred { AppTick = 4 CommsTick = 4 zone = pts={71.84,-13.20:69.93,-7.32:64.93,-3.69:58.75,-3.69:53.75,-7.32:51.84,-13.20:53.75,-19.08:58.75,-22.71:64.93,-22.71:69.93,-19.08} // dynamic values ($[VNAME], $[GROUP], $[TIME], $[VX], $[VY]) post_var = UNTAG_REQUEST=vname=$[VNAME] post_var = DBG_UFZE_GROUP=group=$[GROUP] post_var = DBG_UFZE_POS_X=vx=$[VX] post_var = DBG_UFZE_POS_Y=vy=$[VY] post_var = DBG_UFZE_POS=vx=$[VX],vy=$[VY] post_var = DBG_UFZE_TIME=time=$[TIME] post_var = DBG_IN_ZONE=$[TIME] post_var = DBG_ZONE_PING = red // zone_name should correspond tp the vehicle's group name zone_name = red } ProcessConfig = UFZEblue { AppTick = 4 CommsTick = 4 zone = pts={-51.05,-70.72:-52.96,-64.84:-57.96,-61.21:-64.14,-61.21:-69.14,-64.84:-71.05,-70.72:-69.14,-76.60:-64.14,-80.23:-57.96,-80.23:-52.96,-76.60} // dynamic values ($[VNAME], $[GROUP], $[TIME], $[VX], $[VY]) post_var = UNTAG_REQUEST=vname=$[VNAME] post_var = DBG_IN_ZONE=$[TIME] post_var = DBG_ZONE_PING=blue // zone_name should correspond tp the vehicle's group name zone_name = blue } #include plug_pShare.moos //-------------------------------------------------- // uFldFlagMgr Configuration Block ProcessConfig = uFldFlagManager { AppTick = 2 CommsTick = 2 flag = x=61.84, y=-13.2, label=red flag = x=-61.05, y=-70.72, label=blue } //-------------------------------------------------- // uFldTagManager Configuration Block ProcessConfig = uFldTagManager { // AppTick = 2 // CommsTick = 2 // vtag_range = 30 // post_color = white // miss_color = blue // hit_color = red // tag_circle = true // tag_circle_range = 5 // tag_circle_color = "green" // tag_min_interval = 2 // team_one = $(VTEAM1) // team_two = $(VTEAM2) // zone_one = pts={0,-20:120,-20:120,-100:0,-100} // zone_two = pts={0,-100:120,-100:120,-180:0,-180} AppTick = 4 CommsTick = 4 tag_range = 50 // default (meters) post_color = white // default miss_color = blue // default hit_color = red // default tag_circle = true tag_circle_range = 5 tag_circle_color = "green" tag_min_interval = 10 tag_duration = 10000 tag_post = MOOS_MANUAL_OVERRIDE_$UP_TARGET=true tag_post = SAY_MOOS=file=sounds/tennis_grunt.wav untag_post = MOOS_MANUAL_OVERRIDE_$UP_TARGET=false untag_post = SAY_MOOS=file=sounds/shipbell.wav team_one = red team_two = blue zone_one = pts={ 55.00 , 25.00 : -15.50 , -8.00 : 16.30 , -75.93 : 86.80 , -42.93 } // {0,-20:120,-20:120,-100:0,-100} zone_two = pts={ -15.50 , -8.00 : -86.00 , -41.00 : -54.20 , -108.93 : 16.30 , -75.93 } // {0,-100:120,-100:120,-180:0,-180} zone_one_color = pink zone_two_color = dodger_blue } //-------------------------------------------------- // ufldnodecomms Configuration Block ProcessConfig = uFldNodeComms { AppTick = 2 CommsTick = 2 comms_range = 5000 critical_range = 25 min_msg_interval = 15 max_msg_length = 1000 groups = false view_node_rpt_pulses = false } //-------------------------------------------------- // uFldShoreBroker Configuration Block ProcessConfig = uFldShoreBroker { AppTick = 1 CommsTick = 1 // Note: [QBRIDGE = FOO] is shorthand for // [BRIDGE = src=FOO_$V, alias=FOO] and // [BRIDGE = src=FOO_ALL, alias=FOO] qbridge = DEPLOY, RETURN, STATION_KEEP, NODE_REPORT, NODE_MESSAGE qbridge = MOOS_MANUAL_OVERRIDE, APPCAST_REQ, AVOID, CHASE bridge = src=UP_LOITER_$N, alias=UP_LOITER bridge = src=HELM_MAP_CLEAR, alias=HELM_MAP_CLEAR bridge = src=FLAG_SUMMARY } //-------------------------------------------------- // pHostInfo configuration block from plugin ProcessConfig = pHostInfo { AppTick = 1 CommsTick = 1 } //-------------------------------------------------- // pLogger Configuration Block ProcessConfig = pLogger { AppTick = 10 CommsTick = 10 File = LOG_SHORESIDE PATH = ./ SyncLog = true @ 0.2 AsyncLog = true FileTimeStamp = true LogAuxSrc = true // Log it all!!!!! WildCardLogging = true WildCardOmitPattern = *_STATUS WildCardOmitPattern = DB_VARSUMMARY WildCardOmitPattern = DB_RWSUMMARY } //-------------------------------------------------------- ProcessConfig = pMarineViewer { AppTick = 4 CommsTick = 4 //TIFF_FILE = forrest19.tif TIFF_FILE = MIT_SP.tif set_pan_x = 129 set_pan_y = -364 zoom = 2.5 vehicles_shape_scale = 1.5 vehicles_name_mode = names circle_viewable_all = true appcast_viewable = true appcast_color_scheme = indigo scope = FLAG_GRAB_REPORT scope = NODE_BROKER_PING scope = DEPLOY_ALL action = STATION_KEEP_ALL = false action = STATION_KEEP_ALL = true action = CHASE_ALL = false button_one = DEPLOY # DEPLOY_ALL=true button_one = MOOS_MANUAL_OVERRIDE_ALL=false button_one = RETURN_ALL=false # STATION_KEEP_ALL=false button_two = RETURN # RETURN_ALL=true button_two = RETURN # STATION_KEEP_ALL=false button_three = CHASE # CHASE_ALL=true button_four = STATION # STATION_KEEP_ALL=true // op_vertex = x=0, y=-20, lwidth=1,lcolor=yellow,looped=true,group=moa // op_vertex = x=120, y=-20, lwidth=1,lcolor=yellow,looped=true,group=moa // op_vertex = x=120, y=-180, lwidth=1,lcolor=yellow,looped=true,group=moa // op_vertex = x=0, y=-180, lwidth=1,lcolor=yellow,looped=true,group=moa op_vertex = x=55.0, y=25, lwidth=1,lcolor=yellow,looped=true,group=moa op_vertex = x=-86, y=-41, lwidth=1,lcolor=yellow,looped=true,group=moa op_vertex = x=-54.2, y=-108.93, lwidth=1,lcolor=yellow,looped=true,group=moa op_vertex = x=86, y=-42.93, lwidth=1,lcolor=yellow,looped=true,group=moa } //-------------------------------------------------------- // uProcessWatch Configuration Block ProcessConfig = uProcessWatch { AppTick = 1 CommsTick = 1 allow_retractions = true watch_all = true // default is true nowatch = uXMS* nowatch = uPokeDB* summary_wait = 12 }