/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: NodeReporter_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 "ColorParse.h"
#include "ReleaseInfo.h"
#include "NodeReporter_Info.h"
using namespace std;
//----------------------------------------------------------------
// Procedure: showSynopsis
void showSynopsis()
{
blk("SYNOPSIS: ");
blk("------------------------------------ ");
blk(" A tool for collecting node information such as present vehicle");
blk(" position, trajectory and type, and posting it in a single ");
blk(" report for sharing between vehicles or sending to a shoreside ");
blk(" display. ");
}
//----------------------------------------------------------------
// Procedure: showHelpAndExit
void showHelpAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("Usage: pNodeReporter file.moos [OPTIONS] ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","= ");
blk(" Launch pNodeReporter with the given process ");
blk(" name rather than pNodeReporter. ");
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 pNodeReporter. ");
mag(" --web,-w ");
blk(" Open browser to: ");
blk(" https://oceanai.mit.edu/ivpman/apps/pNodeReporter ");
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()
{
blu("=============================================================== ");
blu("pNodeReporter Example MOOS Configuration ");
blu("=============================================================== ");
blu("Blue lines: ","Default configuration ");
blk(" ");
blk("ProcessConfig = pNodeReporter ");
blk("{ ");
blu(" AppTick = 4 ");
blu(" CommsTick = 4 ");
blk(" ");
blk(" // Configure key aspects of the node ");
blk(" platform_type = glider "," // or {uuv,auv,ship,kayak} ");
blk(" platform_length = 8 "," // meters. Range [0,inf) ");
blk(" platform_group = alpha "," // Default is no group ");
blk(" platform_color = green "," // or any legal color ");
blk(" ");
blk(" // Configure optional blackout functionality ");
blu(" blackout_interval = 0 "," // seconds. Range [0,inf) ");
blk(" ");
blk(" // Configure the optional platform report summary ");
blk(" plat_report_input = COMPASS_HEADING, gap=1 ");
blk(" plat_report_input = GPS_SAT, gap=5 ");
blk(" plat_report_input = WIFI_QUALITY, gap=1 ");
blu(" plat_report_output = PLATFORM_REPORT_LOCAL ");
blk(" ");
blk(" // Configure the MOOS variable containg the node report ");
blu(" node_report_output = NODE_REPORT_LOCAL ");
blk(" ");
blk(" // Threshold for conveying an absense of the helm ");
blu(" nohelm_threshold = 5 "," // seconds ");
blk(" ");
blk(" // Policy for filling in missing lat/lon from x/y or v.versa ");
blk(" // Valid policies: [literal], fill-empty, use-latest, global ");
blu(" cross_fill_policy = literal ");
blk(" ");
blk(" // Configure monitor/reporting of dual nav solution ");
blk(" alt_nav_prefix = NAV_GT ");
blk(" alt_nav_name = _GT ");
blk(" ");
blk(" // Set grace period before posting reports with no NAV info ");
blu(" nav_grace_period = 60 "," // seconds. -1 means infinity ");
blk(" ");
blk(" // Declare the vehicle to be part of group tango. ");
blk(" group = tango ");
blk(" ");
blk(" // Allow NODE_COLOR_CHANGE msgs to dyn modify vcolor. ");
blk(" allow_color_change = true (default is false) ");
blk(" ");
blk(" app_logging = true // {true or file} By default disabled ");
blk("} ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("pNodeReporter INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" NAV_X = 112.3 ");
blk(" NAV_Y = -99.1 ");
blk(" NAV_LAT = 43.824981 ");
blk(" NAV_LONG = -70.329755 ");
blk(" NAV_HEADING = 118.8 ");
blk(" NAV_SPEED = 2.0 ");
blk(" NAV_YAW = 118.8 ");
blk(" NAV_DEPTH = 4.6 ");
blk(" ");
blk(" NODE_COLOR_CHANGE = yellow ");
blk(" ");
blk(" IVPHELM_SUMMARY = ");
blk(" iter=1,ofnum=1,warnings=0,utc_time=23839589908.76, ");
blk(" solve_time=0.00,create_time=0.00,loop_time=0.00, ");
blk(" var=course:195.0,var=speed:1.2,halted=false, ");
blk(" running_bhvs=none,modes=MODE@ACTIVE:LOITERING, ");
blk(" active_bhvs=loiter$23839589908.8$100$9$0.00$0/0$1$1, ");
blk(" idle_bhvs=waypt_return$0.0$0/0:station-keep$0.0$n/a, ");
blk(" completed_bhvs=none ");
blk(" IVPHELM_ENGAGED = ENGAGED ");
blk(" IVPHELM_ALLSTOP = clear ");
blk(" NODE_GROUP_UPDATE = friendly ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" NODE_REPORT ");
blk(" NODE_REPORT_LOCAL = NAME=alpha,TYPE=UUV,TIME=1252348077.59, ");
blk(" COLOR=red,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(" THRUST_MODE_REVERSE=true ");
blk(" ");
blk(" NODE_REPORT_LOCAL_FIRST = posted just once at startup, a copy ");
blk(" of NODE_REPORT_LOCAL in case one ");
blk(" wants to not log the regular reports");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit
void showReleaseInfoAndExit()
{
showReleaseInfo("pNodeReporter", "gpl");
exit(0);
}