//******************************************************* // ShoreSide Configuration File ServerHost = localhost ServerPort = $(SPORT) Community = $(SNAME) #include plug_origin_warp.moos //-------------------------------------------------------- Processconfig = ANTLER { MSBetweenLaunches = 100 Run = MOOSDB @ NewConsole = false Run = pLogger @ NewConsole = false Run = uFldFlagManager @ NewConsole = false Run = uFldTagManager @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = pShare @ NewConsole = false Run = uFldShoreBroker @ NewConsole = false Run = uFldNodeComms @ NewConsole = false Run = pMarineViewer @ NewConsole = false Run = iSay @ NewConsole = false } //--------------------------------------------------------- ProcessConfig = pShare { AppTick = 2 CommsTick = 2 input = route = localhost:$(SHARE_LISTEN) } //-------------------------------------------------- // uFldFlagMgr Configuration Block ProcessConfig = uFldFlagManager { AppTick = 4 CommsTick = 4 default_flag_range = 15 flag_follows_vehicle = true near_flag_range_buffer = 5 flag = $(RED_FLAG), color=red, label=red, range=15 flag = $(BLUE_FLAG), color=blue, label=blue, range=15 grab_post = var=SAY_MOOS, sval={say={$VNAME has the $FLAG flag}} //lose_post = var=SAY_MOOS, sval={say={the $FLAG flag has been reset}} //near_post = var=SAY_MOOS, sval={say={$VNAME is near the $FLAG flag}} near_post = var=SAY_MOOS, sval={file=sounds/shipbell.wav} away_post = var=SAY_MOOS, sval={file=sounds/buzzer.wav} //deny_post = var=SAY_MOOS, sval={file=sounds/sf-no-soup.wav} deny_post = var=SAY_MOOS, sval={say={Grab denied $REASON}} goal_post = var=SAY_MOOS, sval={say={$VTEAM has scored and returned the $FLAG flag}} home_post = var=SAY_MOOS, sval={say={$VNAME has returned home}} near_post = var=LED_IN_FLAG_ZONE_$VNAME, sval={true} away_post = var=LED_IN_FLAG_ZONE_$VNAME, sval={false} near_flag_range_buffer = 0 // Default is 2 } //-------------------------------------------------- // uFldTagManager Configuration Block ProcessConfig = uFldTagManager { AppTick = 4 CommsTick = 4 tag_range = 20 // default (meters) post_color = white // default tag_circle = true tag_circle_range = 5 tag_circle_color = "green" tag_min_interval = 10 tag_duration = 10000 robot_tag_post = TESTING=true //robot_tag_post = MOOS_MANUAL_OVERRIDE_$UP_TARGET=true human_tag_post = SAY_MOOS=say={$TARGET_has_been_tagged},rate=200 human_tag_post = SAY_MOOS_$UP_TARGET=say={you_have_been_tagged},rate=200 robot_tag_post = SAY_MOOS=say={$TARGET_has_been_tagged},rate=200 robot_tag_post = SAY_MOOS_$UP_TARGET=say={you_have_been_tagged},rate=200 // Return Flag human_tag_post = FLAG_RESET=vname=$TARGET robot_tag_post = FLAG_RESET=vname=$TARGET human_tag_post = TAGGED_$UP_TARGET=true robot_tag_post = TAGGED_$UP_TARGET=true notag_post = SAY_MOOS_$UP_SOURCE=say={No Tag $REASON},rate=200 //robot_untag_post = MOOS_MANUAL_OVERRIDE_$UP_TARGET=false // human_untag_post = SAY_MOOS=say={$TARGET_has_been_untagged},rate=200 // human_untag_post = SAY_MOOS_$UP_TARGET=say={you_have_been_untagged},rate=200 //robot_untag_post = SAY_MOOS=say={$TARGET_has_been_untagged},rate=200 //robot_untag_post = SAY_MOOS_$UP_TARGET=say={you_have_been_untagged},rate=200 robot_untag_post = TEST_UNTAG=$TARGET_has_been_untagged,rate=200 human_untag_post = TAGGED_$UP_TARGET=false robot_untag_post = TAGGED_$UP_TARGET=false team_one=red team_two=blue zone_one = pts={ 0,0 : 0,80 : 80,80 : 80,0 } zone_two = pts={ 80,0 : 80,80 : 160,80 : 160,0 } zone_one_color = pink zone_two_color = dodger_blue } //-------------------------------------------------- // ufldnodecomms Configuration Block ProcessConfig = uFldNodeComms { AppTick = 2 CommsTick = 2 comms_range = 5000 critical_range = 25 min_msg_interval = 0 max_msg_length = 10000 groups = false view_node_rpt_pulses = false } //-------------------------------------------------- // uFldShoreBroker Configuration Block ProcessConfig = uFldShoreBroker { AppTick = 1 CommsTick = 1 // Note: [QBRIDGE = FOO] is shorthand for // [BRIDGE = src=FOO_$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 qbridge = TAGGED, ACTION, LOITER_UPDATES, GO_GRAB, LED_TAGGED qbridge = SAY_MOOS, HAS_FLAG, ONFIELD, CANTAG, LED_IN_FLAG_ZONE bridge = src=IN_OWN_TERRITORY bridge = src=IN_ENEMY_TERRITORY bridge = src=UP_LOITER_$N, alias=UP_LOITER bridge = src=HELM_MAP_CLEAR, alias=HELM_MAP_CLEAR bridge = src=FLAG_SUMMARY } //-------------------------------------------------- ProcessConfig = pHostInfo { AppTick = 1 CommsTick = 1 // DEFAULT_HOSTIP = localhost } //-------------------------------------------------- // 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 = ../popolopen19_esrisat.tif set_pan_x = -690 set_pan_y = -225 zoom = 2 vehicles_shape_scale = 1.0 vehicles_name_mode = names circle_viewable_all = true polygon_viewable_labels = false point_viewable_labels = false appcast_viewable = true appcast_color_scheme = indigo nodes_font_size = large procs_font_size = large appcast_font_size = large scope = LED_IN_FLAG_ZONE_EVAN scope = LED_IN_FLAG_ZONE_GUS scope = CANTAG_EVAN scope = ONFIELD_EVAN 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 = STATION_KEEP_ALL=false button_three = PLAY # STATION_KEEP_GUS=false # color=green button_three = ACTION_EVAN=attack button_three = STATION_KEEP_EVAN=false button_three = GO_GRAB_EVAN=true button_four = STATION # STATION_KEEP_ALL=true // Northwest Corner op_vertex = x=0, y=80, lwidth=1,lcolor=yellow,looped=true,group=moa // Southwest Corner op_vertex = x=0, y=0, lwidth=1,lcolor=yellow,looped=true,group=moa // Southeast Corner op_vertex = x=160, y=0, lwidth=1,lcolor=yellow,looped=true,group=moa // Northeast Corner op_vertex = x=160, y=80, lwidth=1,lcolor=yellow,looped=true,group=moa #include plug_commandfolio.txt } //-------------------------------------------------------- // uProcessWatch Configuration Block ProcessConfig = uCommand { #include plug_commandfolio.txt } //-------------------------------------------------------- // 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 } //------------------------------------------ ProcessConfig = iSay { AppTick = 5 CommsTick = 5 min_utter_interval = 1 interval_policy = from_start os_mode=both audio_dir=sounds }