/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: ContactMgrV20_Info.cpp */
/* DATE: July 6th 2011 */
/* DATE: July 8th 2020 Major Mods */
/* */
/* 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 "ContactMgrV20_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: pContactMgrV20 file.moos [OPTIONS] ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","= ");
blk(" Launch pContactMgrV20 with the given process ");
blk(" name rather than pContactMgrV20. ");
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 pContactMgrV20. ");
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("pContactMgrV20 Example MOOS Configuration ");
blu("=============================================================== ");
blk(" ");
blk("ProcessConfig = pContactMgrV20 ");
blk("{ ");
blk(" AppTick = 4 ");
blk(" CommsTick = 4 ");
blk(" ");
blk(" // Alert configurations (one or more, keyed by id) ");
blk(" alert = id=say, on_flag=SAY_MOOS=hello ");
blk(" alert = id=say, off_flag=SAY_MOOS=bye ");
blk(" alert = id=say, alert_range=80, cpa_range=100 ");
blk(" ");
blk(" // Type and group info about ownship ");
blk(" ownship_group = blue_team ");
blk(" ownship_type = kayak ");
blk(" ");
blk(" // Global alert filters (providing nothing is fine) ");
blk(" ignore_name = henry,gilda ");
blk(" match_name = abe, cal ");
blk(" ");
blk(" ignore_group = alpha ");
blk(" match_group = bravo,gamma ");
blk(" ");
blk(" ignore_type = usv,uuv ");
blk(" match_type = ship ");
blk(" ");
blk(" ignore_region = pts={60,-40:60,-160:150,-160:150,-40} ");
blk(" match_region = pts={60,70:60,160:150,160:150,70} ");
blk(" ");
blk(" strict_ignore = true // Default is true ");
blk(" ");
blk(" alert_range_color = color // default is gray65 ");
blk(" cpa_range_color = color // default is gray35 ");
blk(" ");
blk(" // Policy for retaining potential stale contacts ");
blk(" contact_max_age = 60 // Default is 60 secs. ");
blk(" max_retired_history = 5 // Default is 5 contacts ");
blk(" ");
blk(" // Configuring other output ");
blk(" display_radii = false // Default is false ");
blk(" display_radii_id = say // Default is first known ");
blk(" alert_verbose = false // Default is false ");
blk(" ");
blk(" // Policy for linear extrapolation of stale contacts ");
blk(" decay = 15,30 // Default is 15,30 secs ");
blk(" ");
blk(" recap_interval = 1 // Default is 1 sec ");
blk(" range_report_timeout = 10 // Default is 10 secs ");
blk(" range_report_maxsize = 20 // Default is 20 reports ");
blk(" ");
blk(" contact_local_coords = verbatim // Default is verbatim ");
blk(" post_closest_range = false // Default is false ");
blk(" post_all_ranges = false // Default is false ");
blk(" ");
blk(" reject_range = 2000 // Default is 2000 meters ");
blk(" max_contacts = 500 // Default is 500 ");
blk(" alert_verbose = false // Default is false ");
blk(" ");
blk(" app_logging = true // {true or file} By default disabled ");
blk("} ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blu("=============================================================== ");
blu("pContactMgrV20 INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" APPCAST_REQ = node=henry,app=pContactMgrV20, ");
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=pContactMgrV20!@#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 = 23.1 (if enabled) ");
blk(" CONTACT_RANGES = 23.1,63.2,77.5 (if enabled) ");
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) ");
blk(" ");
blk(" VIEW_CIRCLE = x=-150.3,y=-117.5,radius=10,edge_size=1 ");
blk(" ");
blk(" PCONTACTMGRV20_PID = 3988 ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit
void showReleaseInfoAndExit()
{
showReleaseInfo("pContactMgrV20", "gpl");
exit(0);
}