/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: BasicContactMgr_Info.cpp */
/* DATE: July 6th 2011 */
/* */
/* This file is part of MOOS-IvP */
/* */
/* MOOS-IvP is free software: you can redistribute it and/or */
/* modify it under the terms of the GNU General Public License */
/* as published by the Free Software Foundation, either version */
/* 3 of the License, or (at your option) any later version. */
/* */
/* MOOS-IvP is distributed in the hope that it will be useful, */
/* but WITHOUT ANY WARRANTY; without even the implied warranty */
/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See */
/* the GNU General Public License for more details. */
/* */
/* You should have received a copy of the GNU General Public */
/* License along with MOOS-IvP. If not, see */
/* . */
/*****************************************************************/
#include
#include
#include "ReleaseInfo.h"
#include "ColorParse.h"
#include "BasicContactMgr_Info.h"
using namespace std;
//----------------------------------------------------------------
// Procedure: showSynopsis
void showSynopsis()
{
blk("SYNOPSIS: ");
blk("------------------------------------ ");
blk(" The contact manager deals with other known vehicles in its ");
blk(" vicinity. It handles incoming reports perhaps received via a ");
blk(" sensor application or over a communications link. Minimally ");
blk(" it posts summary reports to the MOOSDB, but may also be ");
blk(" configured to post alerts with user-configured content about ");
blk(" one or more of the contacts. ");
}
//----------------------------------------------------------------
// Procedure: showHelpAndExit
void showHelpAndExit()
{
blk(" ");
blu("=============================================================== ");
blk("Usage: pBasicContactMgr file.moos [OPTIONS] ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","= ");
blk(" Launch pBasicContactMgr with the given process ");
blk(" name rather than pBasicContactMgr. ");
mag(" --example, -e ");
blk(" Display example MOOS configuration block. ");
mag(" --help, -h ");
blk(" Display this help message. ");
mag(" --interface, -i ");
blk(" Display MOOS publications and subscriptions. ");
mag(" --version,-v ");
blk(" Display the release version of pBasicContactMgr. ");
blk(" ");
blk("Note: If argv[2] does not otherwise match a known option, ");
blk(" then it will be interpreted as a run alias. This is ");
blk(" to support pAntler launching conventions. ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showExampleConfigAndExit
void showExampleConfigAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("pBasicContactMgr Example MOOS Configuration ");
blu("=============================================================== ");
blk(" ");
blk("ProcessConfig = pBasicContactMgr ");
blk("{ ");
blk(" AppTick = 4 ");
blk(" CommsTick = 4 ");
blk(" ");
blk(" // Alert configurations (one or more, keyed by id) ");
blk(" alert = id=avd, var=CONTACT_INFO ");
blk(" alert = id=avd, val=\"name=avd_$[VNAME] # contact=$[VNAME]\" ");
blk(" alert = id=avd, range=80, alert_range_color=white ");
blk(" alert = id=avd, cpa_range=95, cpa_range_color=gray50 ");
blk(" ");
blk(" // Properties for all alerts ");
blk(" default_alert_range = 1000 // default in meters ");
blk(" default_cpa_range = 1000 // default in meters ");
blk(" default_alert_range_color = color // default is gray65 ");
blk(" default_cpa_range_color = color // default is gray35 ");
blk(" ");
blk(" // Policy for retaining potential stale contacts ");
blk(" contact_max_age = 600 // default in secs. ");
blk(" max_retired_history = 5 // default in # of ships ");
blk(" ");
blk(" // Configuring other output ");
blk(" display_radii = false // or {true} ");
blk(" alert_verbose = false // If true, ALERT_VERBOSE published.");
blk(" ");
blk(" // Policy for linear extrapolation of stale contacts ");
blk(" decay = 15,30 // the default in secs ");
blk(" ");
blk(" contacts_recap_interval = 1 // the default in secs ");
blk(" range_report_timeout = 10 // the default in secs ");
blk(" ");
blk(" contact_local_coords = verbatim // default is verbatim ");
blk(" eval_range_far = 20 // default in meters ");
blk(" eval_range_near = 10 // default in meters ");
blk(" post_closest_range = false // default is false ");
blk(" ");
blk(" app_logging = true // {true or file} By default disabled ");
blk("} ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blu("=============================================================== ");
blu("pBasicContactMgr INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" APPCAST_REQ = node=henry,app=pBasicContactMgr, ");
blk(" duration=6,key=uMAC_438 ");
blk(" BCM_ALERT_REQUEST = id=avd, var=CONTACT_INFO, ");
blk(" val=\"name=avd_$[VNAME] # contact=$[VNAME]\", ");
blk(" BCM_DISPLAY_RADII = 112.3 ");
blk(" range=80, alert_range_color=white, ");
blk(" cpa_range=95, cpa_range_color=gray50 ");
blk(" BCM_REPORT_REQUEST = var=CONTACTS_50, range=50 ");
blk(" CONTACT_RESOLVED = henry ");
blk(" NAV_HEADING = 118.8 ");
blk(" NAV_X = 112.3 ");
blk(" NAV_Y = -99.1 ");
blk(" NAV_SPEED = 2.0 ");
blk(" NODE_REPORT = NAME=alpha,TYPE=UUV,TIME=1252348077.59, ");
blk(" X=51.71,Y=-35.50, LAT=43.824981, ");
blk(" LON=-70.329755,SPD=2.0,HDG=118.8, ");
blk(" YAW=118.8,DEPTH=4.6,LENGTH=3.8, ");
blk(" MODE=MODE@ACTIVE:LOITERING ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" Alert publications configured by the user. ");
blk(" ");
blk(" APPCAST = name=pBasicContactMgr!@#iter=91!@#node=hotel!@# ");
blk(" messages=... ");
blk(" ");
blk(" ALERT_VERBOSE = contact=gilda,config_alert_range=40.0, ");
blk(" config_alert_range_cpa=45.0,range_used=39.2, ");
blk(" range_actual=40.8,range_extrap=40.8, ");
blk(" range_cpa=13 ");
blk(" ");
blk(" CONTACT_CLOSEST = charlie ");
blk(" CONTACT_CLOSEST_TIME = 17514261063.3 ");
blk(" CONTACT_CLOSEST_RANGE = 73 (if enabled) ");
blk(" CONTACT_CLOSEST_EVAL = 1 ");
blk(" CONTACT_MGR_WARNING = Bad Node Report Received ");
blk(" ");
blk(" CONTACTS_ALERTED = (delta,avd)(charlie,avd) ");
blk(" CONTACTS_COUNT = 2 (number of alerted contacts) ");
blk(" CONTACTS_LIST = delta,gus,charlie,henry ");
blk(" CONTACTS_RECAP = name=delta,age=11.3,range=193.1 # ");
blk(" name=gus,age=0.7,range=48.2 # ");
blk(" name=charlie,age=1.9,range=73.1 # ");
blk(" name=henry,age=4.0,range=18. ");
blk(" CONTACTS_RETIRED = bravo,foxtrot,kilroy ");
blk(" CONTACTS_UNALERTED = (gus,avd)(henry,avd) ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit
void showReleaseInfoAndExit()
{
showReleaseInfo("pBasicContactMgr", "gpl");
exit(0);
}