/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: USM_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 "USM_Info.h"
#include "ColorParse.h"
#include "ReleaseInfo.h"
using namespace std;
//----------------------------------------------------------------
// Procedure: showSynopsis
void showSynopsis()
{
blk("SYNOPSIS: ");
blk("------------------------------------ ");
blk(" The uSimMarine application is a simple 3D vehicle simulator ");
blk(" that updates vehicle state, position and trajectory, based on ");
blk(" the present actuator values and prior vehicle state. Typical ");
blk(" usage scenario has a single instance of uSimMarine associated ");
blk(" with each simulated vehicle. ");
}
//----------------------------------------------------------------
// Procedure: showHelpAndExit
void showHelpAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("Usage: uSimMarine file.moos [OPTIONS] ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","= ");
blk(" Launch uSimMarine with the given process name rather ");
blk(" than uSimMarine. ");
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 uSimMarine. ");
mag(" --web,-w ");
blk(" Open browser to: https://oceanai.mit.edu/ivpman/apps/uSimMarine");
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("uSimMarine Example MOOS Configuration ");
blu("=============================================================== ");
blk(" ");
blk("ProcessConfig = uSimMarine ");
blk("{ ");
blk(" AppTick = 4 ");
blk(" CommsTick = 4 ");
blk(" ");
blk(" start_x = 0 ");
blk(" start_y = 0 ");
blk(" start_heading = 0 ");
blk(" start_speed = 0 ");
blk(" start_depth = 0 ");
blk(" start_pos = x=0, y=0, speed=0, heading=0, depth=0 ");
blk(" ");
blk(" drift_x = 0 ");
blk(" drift_y = 0 ");
blk(" rotate_speed = 0 ");
blk(" drift_vector = 0,0 "," // heading, magnitude ");
blk(" ");
blk(" buoyancy_rate = 0.025 ","// meters/sec ");
blk(" max_acceleration = 0 ","// meters/sec^2 ");
blk(" max_deceleration = 0.5 ","// meters/sec^2 ");
blk(" max_depth_rate = 0.5 ","// meters/sec ");
blk(" max_depth_rate_speed = 2.0 ","// meters/sec ");
blk(" ");
blk(" sim_pause = false ","// or {true} ");
blk(" dual_state = false ","// or {true} ");
blk(" thrust_reflect = false ","// or {true} ");
blk(" thrust_factor = 20 ","// range [0,inf) ");
blk(" turn_rate = 70 ","// range [0,100] ");
blk(" thrust_map = 0:0, 20:1, 40:2, 60:3, 80:5, 100:5 ");
blk(" ");
blk(" prefix = NAV_ ","// default is USM_ ");
blk(" ");
blk(" app_logging = true // {true or file} By default disabled ");
blk("} ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("uSimMarine INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" DESIRED_THRUST = [-100,100] ");
blk(" DESIRED_RUDDER = [-100,100] ");
blk(" DESIRED_ELEVATOR = [-100,100] ");
blk(" ");
blk(" DESIRED_THRUST_L = [-100,100] ");
blk(" DESIRED_THRUST_R = [-100,100] ");
blk(" ");
blk(" THRUST_MODE_REVERSE = [true/false] ");
blk(" THRUST_MODE_DIFFERENTIAL = [true/false] ");
blk(" ");
blk(" BUOYANCY_CONTROL = [-inf,+inf] ");
blk(" BUOYANCY_RATE = [-inf,+inf] m/s ");
blk(" CURRENT_FIELD = [true/false] ");
blk(" DRIFT_X/CURRENT_X = [-inf,+inf] m/s ");
blk(" DRIFT_Y/CURRENT_Y = [-inf,+inf] m/s ");
blk(" DRIFT_VECTOR = [0,360),[0,+inf] ");
blk(" DRIFT_VECTOR_ADD = [-inf,+inf] ");
blk(" DRIFT_VECTOR_MULT = [-inf,+inf] ");
blk(" ROTATE_SPEED = [0,inf] m/s ");
blk(" TRIM_CONTROL = [-inf,+inf] ");
blk(" WATER_DEPTH = [0,+inf] ");
blk(" ");
blk(" USM_RESET (value not read) ");
blk(" USM_SIM_PAUSED = [true/false] ");
blk(" USM_ENABLED = [true/false] ");
blk(" USM_TURN_RATE = [0,100] ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" BUOYANCY_REPORT = status=2,error=0,buoyancy=0.0 ");
blk(" TRIM_CONTROL = status=2,error=0,trim_pitch=0.0, ");
blk(" trim_roll=0.0 ");
blk(" USM_ALTITUDE = 100 ");
blk(" USM_DEPTH = 45 ");
blk(" USM_DRIFT_SUMMARY = ang=90, mag=1.5, xmag=90, ymag=0 ");
blk(" USM_HEADING = 197 ");
blk(" USM_HEADING_OVER_GROUND = 192 ");
blk(" USM_LAT = 42.1293844 ");
blk(" USM_LONG = -73.2398311 ");
blk(" USM_SPEED = 1.33 ");
blk(" USM_SPEED_OVER_GROUND = 2.09 ");
blk(" USM_X = 34.9 ");
blk(" USM_Y = 442.5 ");
blk(" USM_YAW = 197 ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit
void showReleaseInfoAndExit()
{
showReleaseInfo("uSimMarine ", "gpl");
exit(0);
}