/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: FldNodeComms_Info.cpp */
/* DATE: Dec 4th 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 "FldNodeComms_Info.h"
using namespace std;
//----------------------------------------------------------------
// Procedure: showSynopsis
void showSynopsis()
{
blk("SYNOPSIS: ");
blk("------------------------------------ ");
blk(" A shoreside tool for managing communications between vehicles.");
blk(" It has knowledge of all vehicle positions based on incoming ");
blk(" node reports. Communications may be limited based on vehicle ");
blk(" range, frequency of messages, or size of message. Messages may");
blk(" also be blocked based on a team affiliation. ");
}
//----------------------------------------------------------------
// Procedure: showHelpAndExit
void showHelpAndExit()
{
blk(" ");
blu("=============================================================== ");
blk("Usage: uFldNodeComms file.moos [OPTIONS] ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","= ");
blk(" Launch uFldNodeComms with the given process ");
blk(" name rather than uFldNodeComms. ");
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 uFldNodeComms. ");
mag(" --web,-w ");
blk(" Open browser to: https://oceanai.mit.edu/ivpman/apps/uFldNodeComms ");
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("uFldNodeComms Example MOOS Configuration ");
blu("=============================================================== ");
blk(" ");
blk("ProcessConfig = uFldNodeComms ");
blk("{ ");
blk(" AppTick = 4 ");
blk(" CommsTick = 4 ");
blk(" ");
blk(" comms_range = 100 // default (in meters) ");
blk(" critical_range = 30 // default (in meters) ");
blk(" stale_time = 5 // default (in seconds) ");
blk(" ");
blk(" max_msg_length = 1000 // default (# of characters) ");
blk(" min_msg_interval = 30 // default (in seconds) ");
blk(" min_rpt_interval = -1 // default (in seconds) ");
blk(" ");
blk(" verbose = true // default ");
blk(" groups = false // default ");
blk(" msg_groups = false // default ");
blk(" ");
blk(" stealth = vname=alpha, stealth=0.8 ");
blk(" earange = vname=alpha, earange=4.5 ");
blk(" ");
blk(" shared_node_reports = false // default ");
blk(" ");
blk(" pulse_duration = 10 // default (in seconds) ");
blk(" view_node_rpt_pulses = true // default ");
blk(" ");
blk(" drop_percentage = 10 // Drop 10% msgs. Default is 0. ");
blk(" ");
blk(" msg_color = white // default ");
blk(" msg_repeat_color = light_green // default ");
blk(" ");
blk(" app_logging = true // {true or file} By default disabled ");
blk("} ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blu("=============================================================== ");
blu("uFldNodeComms INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" NODE_MESSAGE = src_node=henry,dest_node=ike,var_name=FOO,");
blk(" string_val=bar ");
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(" ");
blk(" UNC_SHARED_NODE_REPORTS = true ");
blk(" UNC_VIEW_NODE_RPT_PULSES = false ");
blk(" UNC_FULL_REPORT_REQ = henry ");
blk(" ");
blk(" UNC_STEALTH = vname=alpha,stealth=0.4 ");
blk(" UNC_COMMS_RANGE = 250 ");
blk(" UNC_EARANGE = vname=alpha,earange=0.5 ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" NODE_MESSAGE_ = src_node=henry,dest_node=ike, ");
blk(" var_name=FOO,string_val=bar ");
blk(" NODE_REPORT_ = NAME=alpha,TYPE=UUV,TIME=1252348077.5, ");
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(" VIEW_COMMS_PULSE = label=one,sx=4,sy=2,tx=44,ty=55, ");
blk(" beam_width=10,duration=5,fill=0.3, ");
blk(" fill_color=yellow,edge_color=green ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit
void showReleaseInfoAndExit()
{
showReleaseInfo("uFldNodeComms", "gpl");
exit(0);
}