/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: BRS_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 "BRS_Info.h"
#include "ColorParse.h"
#include "ReleaseInfo.h"
using namespace std;
//----------------------------------------------------------------
// Procedure: showSynopsis
void showSynopsis()
{
blk("SYNOPSIS: ");
blk("------------------------------------ ");
blk(" Typically run in a shoreside community. Configured with one or");
blk(" more beacons with known beacon locations. Takes range requests");
blk(" from a remote vehicle and returns a range report indicating ");
blk(" that vehicle's range to nearby beacons. Range requests may ");
blk(" or may not be answered depending on range to beacon. Reports ");
blk(" may have noise added and may or may not include beacon ID. ");
}
//----------------------------------------------------------------
// Procedure: showHelp
void showHelpAndExit()
{
blk(" ");
blu("==========================================================");
blu("Usage: uFldBeaconRangeSensor file.moos [OPTIONS] ");
blu("==========================================================");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","= ");
blk(" Launch uFldBeaconRangeSensor with the given process ");
blk(" name rather than uFldBeaconRangeSensor. ");
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 release version of uFldBeaconRangeSensor. ");
mag(" --verbose","= ");
blk(" Set verbosity. true or false (default) ");
mag(" --web,-w ");
blk(" Open browser to: https://oceanai.mit.edu/apps/uFldBeaconRangeSensor ");
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("uFldBeaconRangeSensor Example MOOS Configuration ");
blu("=============================================================== ");
blk("{ ");
blk(" AppTick = 4 ");
blk(" CommsTick = 4 ");
blk(" ");
blk(" // Configuring aspects of vehicles in the sim ");
blk(" reach_distance = default = 200 "," // or {nolimit} ");
blk(" reach_distance = henry = 40 "," // meters ");
blk(" ping_wait = default = 30 "," // seconds ");
blk(" ping_wait = henry = 120 ");
blk(" ping_payments = upon_response "," // or {upon_receipt, upon_request}");
blk(" ");
blk(" // Configuring manner of reporting ");
blk(" report_vars = short ","// or {long, both} ");
blk(" ground_truth = true ","// or {false} ");
blk(" verbose = true ","// or {false} ");
blk(" ");
blk(" // Configuring default beacon properties ");
blk(" default_beacon_shape = circle ","// or {square, diamond, etc.} ");
blk(" default beacon_color = orange ","// or {red, green, etc.} ");
blk(" default_beacon_width = 4 ");
blk(" default_beacon_report_range = 100 ");
blk(" default_beacon_freq = never ","// or [0,inf] ");
blk(" default_beacon_push_dist = 100 ");
blk(" default_beacon_pull_dist = 100 ");
blk(" ");
blk(" // Configuring Beacon properties ");
blk(" beacon = x=200, y=435, label=01, report_range=45 ");
blk(" beacon = x=690, y=205, label=02, freq=90 ");
blk(" beacon = x=350, y=705, label=03, width=8, color=blue ");
blk(" ");
blk(" // Configuring Artificial Noise ");
blk(" rn_algorithm = uniform,pct=0 "," // pct may be in [0,1] ");
blk(" ");
blk(" app_logging = true // {true or file} By default disabled ");
blk("} ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("uFldBeaconRangeSensor INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" NODE_REPORT ");
blk(" NODE_REPORT_LOCAL = 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(" BRS_RANGE_REQUEST = name=archie ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" BRS_RANGE_REPORT = vname=alpha,range=26.54, ");
blk(" time=19656022406.44 ");
blk(" BRS_RANGE_REPORT_GT = vname=archie,range=126.54, ");
blk(" time=19656022406.44 ");
blk(" BRS_DEBUG = Invalid incoming node report ");
blk(" VIEW_MARKER = x=400,y=-200,label=02,color=orange, ");
blk(" type=circle,width=4 ");
blk(" VIEW_RANGE_PULSE = x=4,y=15,radius=40,duration=15,label=04,");
blk(" fill=0.25,fill_color=green,edge_size=1, ");
blk(" edge_color=green,time=3892830128.5 ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit
void showReleaseInfoAndExit()
{
showReleaseInfo("uFldBeaconRangeSensor", "gpl");
exit(0);
}