/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: CollisionDetector_Info.cpp */
/* DATE: Dec 21st 2015 */
/* */
/* 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 "CollisionDetector_Info.h"
#include "ColorParse.h"
#include "ReleaseInfo.h"
using namespace std;
//----------------------------------------------------------------
// Procedure: showSynopsis
void showSynopsis()
{
blk("SYNOPSIS: ");
blk("------------------------------------ ");
blk(" The uCollisionDetect application is run by the shoreside ");
blk(" and detects if two vehicles have had an ecounter. An ");
blk(" encounter is defined as being within the distance specified ");
blk(" by the encounter_range parameter. ");
blk(" ");
blk(" An encounter constituting a near miss or collision will also ");
blk(" produce a posting to UCD_REPORT indicating the two vehicle ");
blk(" names, the CPA distance, and rank (near miss or collision). ");
blk(" ");
blk(" Flags may be configured to be posted upon each event type - ");
blk(" collision, near-miss or encounter. These flags are simply ");
blk(" MOOS variable and value pairs like the flags in many other ");
blk(" MOOS applications and helm behaviors. For example, such a ");
blk(" flag may be used to trigger an evaluation of the mission ");
blk(" efficiency for a window of time around the encounter. ");
}
//----------------------------------------------------------------
// Procedure: showHelpAndExit
void showHelpAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("Usage: uCollisionDetector file.moos [OPTIONS] ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","= ");
blk(" Launch uCollisionDetector with the given process name ");
blk(" rather than uCollisionDetector. ");
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 uCollisionDetector. ");
mag(" --web,-w ");
blk(" Open browser to: https://oceanai.mit.edu/apps/uFldCollisionDetect ");
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("uFldCollisionDetect Example MOOS Configuration ");
blu("=============================================================== ");
blk(" ");
blk("ProcessConfig = uFldCollisionDetect ");
blk("{ ");
blk(" AppTick = 4 ");
blk(" CommsTick = 4 ");
blk(" ");
blk(" condition = DEPLOY_ALL = true ");
blk(" ");
blk(" encounter_flag = ENCOUNTER = $CPA ");
blk(" collision_flag = COLLISION = $CPA ");
blk(" near_miss_flag = NEAR_MISS = vname1=$V1,vname2=$V2,cpa=$CPA ");
blk(" ");
blk(" encounter_range = 10 // (the default) in meters ");
blk(" near_miss_range = 6 // (the default) in meters ");
blk(" collision_range = 3 // (the default) in meters ");
blk(" ");
blk(" ignore_group = alpha ");
blk(" reject_group = bravo ");
blk(" ");
blk(" post_closest_range = true // default is false ");
blk(" ");
blk(" pulse_render = true // default true ");
blk(" pulse_range = 20 // default is 20 meters ");
blk(" pulse_duration = 10 // default is 10 seconds ");
blk(" ");
blk(" report_all_encounters = true // default is false ");
blk(" ");
blk(" app_logging = true // {true or file} By default disabled ");
blk("} ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blu("=============================================================== ");
blu("uFldCollisionDetect INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" Dynamic: Will subscribe for any MOOS variables involved in the");
blk(" condition parameter if used. ");
blk(" ");
blk(" ");
blk(" NODE_REPORT = NAME=alpha,TYPE=UUV,TIME=1252348077.59,X=51.71, ");
blk(" Y=-35.50, LAT=43.824981,LON=-70.329755,SPD=2.0, ");
blk(" HDG=118.8,YAW=118.8,DEPTH=4.6,LENGTH=3.8, ");
blk(" MODE=MODE@ACTIVE:LOITERING ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" Dynamic: Will pulish any MOOS variables involved in either ");
blk(" the collision_flag, near_miss_flag or encounter_flag ");
blk(" parameters. ");
blk(" ");
blk(" UCD_REPORT = vname1=abe, vname2=cal, cpa=2.4, rank=collision ");
blk(" ");
blk(" VIEW_RANGE_PULSE = x=78.78,y=-78.405,radius=40,duration=20, ");
blk(" fill=0.25,edge_color=red,fill_color=red, ");
blk(" time=65286252381.7,edge_size=1 ");
blk(" ");
blk(" ENCOUNTER_TOTAL = 193 ");
blk(" NEAR_MISS_TOTAL = 8 ");
blk(" COLLISION_TOTAL = 0 ");
blk(" ");
blk(" COLLISION_DETECT_PARAMS = collision_range=4,near_miss_range=8,");
blk(" encounter_range=20 ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit
void showReleaseInfoAndExit()
{
showReleaseInfo("uCollisionDetector", "gpl");
exit(0);
}