/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: HelmIvP_Info.cpp */
/* DATE: July 5th 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 "ColorParse.h"
#include "ReleaseInfo.h"
#include "HelmIvP_Info.h"
using namespace std;
//----------------------------------------------------------------
// Procedure: showSynopsis
void showSynopsis()
{
blk("SYNOPSIS: ");
blk("------------------------------------ ");
blk(" pHelmIvP is a behavior-based autonomous decision-making MOOS ");
blk(" application. It consists of a set of behaviors reasoning over ");
blk(" a common decision space such as the vehicle heading and speed.");
blk(" Behaviors are reconciled using multi-objective optimization ");
blk(" with the Interval Programming (IvP) model. ");
}
//----------------------------------------------------------------
// Procedure: showHelpAndExit
void showHelpAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("Usage: pHelmIvP file.moos [BEHAVIOR FILES] [OPTIONS] ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","= ");
blk(" Launch pHelmIvP with the given process name rather ");
blk(" than pHelmIvP. ");
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 pHelmIvP. ");
mag(" --verbose= ");
blk(" May be \"VERBOSE\", \"terse\", or \"quiet\". ");
mag(" --web,-w ");
blk(" Open browser to: https://oceanai.mit.edu/apps/pHelmIvP ");
blk(" ");
blk("Behavior files: ");
blk(" One or more filenames to get IvP Helm config parameters. ");
blk(" Optional arg since behavior filename may be specified in ");
blk(" the pHelmIvP config block of the .moos file. ");
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("pHelmIvP Example MOOS Configuration ");
blu("=============================================================== ");
blk(" ");
blk("ProcessConfig = pHelmIvP ");
blk("{ ");
blk(" AppTick = 4 ");
blk(" CommsTick = 4 ");
blk(" ");
blk(" // Configuring behavior file and decision domain ");
blk(" ivp_behavior_dir = /Users/bob/moos-ivp-bob/lib/ ");
blk(" behaviors = filename.bhv ");
blk(" domain = course:0:359:360 ");
blk(" domain = speed:0:2:21 ");
blk(" domain = depth:0:1000:1001 ");
blk(" ");
blk(" // Configure Helm Engagement policies ");
blk(" start_engaged = false // or {true} ");
blk(" allow_disengaged = true // or {false} ");
blk(" disengage_on_allstop = false // or {true} ");
blk(" ");
blk(" // Provide alternative to MOOS_MANUAL_OVERRIDE directive ");
blk(" other_override_var = AUTONOMY_OVERRIDE ");
blk(" ");
blk(" // Handle possible time skews from external communities ");
blk(" node_skew = charlie,45 ","// vehicle_name, secs ");
blk(" ok_skew = 60 ","// or {any} ");
blk(" ");
blk(" // Configure the verbosity of terminal output. ");
blk(" verbose = terse "," // or {true,false,quiet} ");
blk(" ");
blk(" // Insist that at least one non-constraint behavior be active ");
blk(" goals_mandatory = true "," // or {true,FALSE} ");
blk(" ");
blk(" // Allow unfound bhv directories to not be a problem. ");
blk(" bhv_dir_not_found_ok = true "," // or {true,FALSE} ");
blk(" ");
blk(" // Name apps to wait on before posting onHelmStart messages. ");
blk(" hold_on_apps = pBasicContactMgr, pTaskManager ");
blk(" ");
blk(" app_logging = true // {true or file} By default disabled ");
blk("} ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("pHelmIvP INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" The Helm primarily registers for the MOOS variables needed by ");
blk(" the particular behaviors used in a given configuration, and ");
blk(" variables used in helm mode declarations. ");
blk(" + ");
blk(" MOOS_MANUAL_OVERIDE ");
blk(" MOOS_MANUAL_OVERRIDE ");
blk(" RESTART_HELM ");
blk(" IVPHELM_VERBOSE ");
blk(" IVPHELM_REJOURNAL ");
blk(" APPCAST_REQ = node=all,app=uFldCollObDetect,duration=3.0 ");
blk(" key=pMarineViewer:alphaapp,thresh=run_warning ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" The helm publishes MOOS variables requested for posting by the");
blk(" behaviors running at a given point in time. ");
blk(" + ");
blk(" The helm also publishes a decision for each of its configured ");
blk(" decision variables, e.g., DESIRED_SPEED etc. In general, if ");
blk(" foobar is a decision variable, DESIRED_FOOBAR may be posted ");
blk(" if there is a behavior reasoning about that decision variable.");
blk(" + ");
blk(" BHV_ERROR = Error description gen'ed by behavior ");
blk(" BHV_IPF = Serialization of an IvP function ");
blk(" BHV_WARNING = Warning description gen'ed by behavior");
blk(" ");
blk(" IVPHELM_STATE = PARK, DRIVE, STANDBY, DISABLED ");
blk(" IVPHELM_ALLSTOP = clear, MissingDecVars, BehaviorError ");
blk(" NothingToDo ");
blk(" IVPHELM_BHV_CNT = # of behaviors instantiated ");
blk(" IVPHELM_BHV_CNT_EVER = # of behaviors instantiated ever ");
blk(" IVPHELM_IPF_CNT = # of IvP functions on this iteration ");
blk(" ");
blk(" IVPHELM_CREATE_CPU = CPU time to create IvP functions ");
blk(" IVPHELM_LOOP_CPU = CPU time to create and solve IvP prob ");
blk(" ");
blk(" IVPHELM_DOMAIN = speed,0,4,21:course,0,359,36 ");
blk(" IVPHELM_LIFE_EVENT = Desc of behavior spawn or death ");
blk(" IVPHELM_MODESET = Description of the helm mode tree ");
blk(" IVPHELM_ITER = The Present helm iteration (integer) ");
blk(" IVPHELM_STATEVARS = MOOS vars involved in mode setting ");
blk(" IVPHELM_UPDATEVARS = MOOS vars involved in behavior updates");
blk(" IVPHELM_UPDATE_RESULT = Report on attempted behavior update ");
blk(" IVPHELM_SUMMARY = A helm snapshot for use in uHelmScope ");
blk(" IVPHELM_RESTARTED = true when/if helm is RE-started ");
blk(" PLOGGER_CMD = Request pLogger to copy the bhv file ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit
void showReleaseInfoAndExit()
{
showReleaseInfo("pHelmIvP", "gpl");
exit(0);
}