/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: GenericSensor_Info.cpp */
/* DATE: Jan 28th 2012 */
/* */
/* 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 "GenericSensor_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 a set ");
blk(" source objects with a given x,y location and label. ");
blk(" The sensor simulator receives a series of requests from a ");
blk(" remote vehicle. When the sensor determines that an object is ");
blk(" is within the sensor field of a requesting vehicle, it may or ");
blk(" may not return a sensor detection report for the object. ");
blk(" The report consists of a point in the x-y space within a given ");
blk(" range from the source object. The vehicle is configured with ");
blk(" one of several possible \"detection ranges\". The sensor will ");
blk(" not produce a value unless the source point is within that ");
blk(" range of the vehicle, and the reported point produced by the ");
blk(" sensor is also within that range from the source point. ");
}
//----------------------------------------------------------------
// Procedure: showHelp
void showHelpAndExit()
{
blk(" ");
blu("==========================================================");
blu("Usage: uFldGenericSensor file.moos [OPTIONS] ");
blu("==========================================================");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","= ");
blk(" Launch uFldGenericSensor with the given process ");
blk(" name rather than uFldGenericSensor. ");
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 uFldGenericSensor. ");
mag(" --verbose","= ");
blk(" Set verbosity. true or false (default) ");
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("uFldGenericSensor Example MOOS Configuration ");
blu("=============================================================== ");
blk(" ");
blk("ProcessConfig = uFldGenericSensor ");
blk("{ ");
blk(" AppTick = 4 ");
blk(" CommsTick = 4 ");
blk(" ");
blk(" // Configuring visual preferences ");
blk(" show_source_pts = true // default ");
blk(" scope_transparency = 0.25 // default ");
blk(" color_source_pts = green // default ");
blk(" show_source_pts = true // default ");
blk(" ");
blk(" // Configure the Sensed Object Laydown ");
blk(" source_point = x=-20,y=30,label=07 ");
blk(" source_point = x=45,y=-93,label=12 ");
blk(" ");
blk(" // Configure the Sensor Properties ");
blk(" min_reset_interval = 300 // default ");
blk(" min_sensor_interval = 30 // default ");
blk(" sensor_config = range = 30 ");
blk(" sensor_config = range = 100 ");
blk(" sensor_config = range = 60 ");
blk("} ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("uFldGenericSensor 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(" UGS_SENSOR_REQUEST = vname=archie ");
blk(" UGS_CONFIG_REQUEST = vname=archie,range=25 ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" UGS_HAZARD_REPORT = vname=betty,x=51,y=11.3,hazard=true, ");
blk(" label=12 ");
blk(" UGS_HAZARD_REPORT_ = x=51,y=11.3,hazard=true,label=12 ");
blk(" UHZ_CONFIG_ACK = vname=archie,width=20,pd=0.9,pfa=0.53, ");
blk(" pclass=0.91 ");
blk(" ");
blk(" UHZ_OPTIONS_SUMMARY = width=10,exp=6,class=0.9:width=25,exp=4,");
blk(" class=0.85:width=50,exp=2,class=0.78 ");
blk(" ");
blk(" VIEW_CIRCLE = x=-150.3,y=-117.5,radius=10,edge_size=1 ");
blk(" (detection) edge_color=white,fill_color=white, ");
blk(" vertex_size=0,fill_transparency=0.3 ");
blk(" type=circle,width=4 ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit
void showReleaseInfoAndExit()
{
showReleaseInfo("uFldGenericSensor", "gpl");
exit(0);
}