/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: HelmScopeInfo.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 "HelmScope_Info.h"
#include "ColorParse.h"
#include "ReleaseInfo.h"
using namespace std;
//----------------------------------------------------------------
// Procedure: showSynopsis
void showSynopsis()
{
blk("SYNOPSIS: ");
blk("------------------------------------ ");
blk(" The uHelmScope application is a terminal-based (non-GUI) scope");
blk(" onto a running IvP Helm process, and key MOOS variables. ");
blk(" uHelmScope provides behavior summaries, activity states, and ");
blk(" recent behavior postings to the MOOSDB. ");
}
//----------------------------------------------------------------
// Procedure: showHelpAndExit
void showHelpAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("Usage: uHelmScope file.moos [OPTIONS] [MOOS Variables] ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","= ");
blk(" Launch uHelmScope with the given process name rather ");
blk(" than uHelmScope. ");
mag(" --clean, -c ");
blk(" MOOS variables specified in given .moos file are excluded ");
blk(" from the MOOSDB-Scope output block. ");
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(" --noscope,-x ");
blk(" Suppress MOOSDB-Scope output block. ");
mag(" --noposts,-p ");
blk(" Suppress Behavior-Posts output block. ");
mag(" --novirgins,-g ");
blk(" Suppress virgin variables in MOOSDB-Scope output block. ");
mag(" --streaming,-s ");
blk(" Streaming (unpaused) output enabled. ");
mag(" --trunc,-t ");
blk(" Column truncation of scope output is enabled. ");
mag(" --version,-v ");
blk(" Display the release version of uHelmScope. ");
mag(" --web,-w ");
blk(" Open browser to: https://oceanai.mit.edu/ivpman/apps/uHelmScope ");
blk(" ");
blk("MOOS Variables ");
blk(" MOOS_VAR1 MOOSVAR_2, ..., MOOSVAR_N ");
blk(" ");
blk("Further Notes: ");
blk(" (1) The order of command line arguments is irrelvant. ");
blk(" (2) Any MOOS variable used in a behavior run condition or used");
blk(" in hierarchical mode declarations will be automatically ");
blk(" subscribed for in the MOOSDB scope. ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showExampleConfigAndExit
void showExampleConfigAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("uHelmScope Example MOOS Configuration ");
blu("=============================================================== ");
blk(" ");
blk("ProcessConfig = uHelmScope ");
blk("{ ");
blk(" AppTick = 1 "," // MOOSApp default is 4 ");
blk(" CommsTick = 1 "," // MOOSApp default is 4 ");
blk(" ");
blk(" paused = false // default ");
blk(" ");
blk(" display_moos_scope = true "," // default ");
blk(" display_bhv_posts = true "," // default ");
blk(" display_virgins = true "," // default ");
blk(" truncated_output = false "," // default ");
blk(" behaviors_concise = true "," // default ");
blk(" ");
blk(" var = NAV_X, NAV_Y, NAV_SPEED, NAV_DEPTH // MOOS vars are ");
blk(" var = DESIRED_HEADING, DESIRED_SPEED // case sensitive ");
blk("} ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("uHelmScope INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" All variables specified on the command line. ");
blk(" All variables used in behavior run conditions or helm modes. ");
blk(" + ");
blk(" DB_UPTIME = 195.19385 ");
blk(" IVPHELM_SUMMARY = iter=767,utc_time=1324844699.26, ");
blk(" active_bhvs=waypt_survey$1324844507.4$ ");
blk(" 100$6$0.79$0/0$1$1 ");
blk(" IVPHELM_POSTINGS = ");
blk(" IVPHELM_STATEVARS = DEPLOY,HSLINE,RETURN ");
blk(" IVPHELM_DOMAIN = speed,0,4,21:course,0,359,360 ");
blk(" IVPHELM_MODESET = ");
blk(" IVPHELM_ENGAGED = ENGAGED ");
blk(" IVPHELM_LIFE_EVENT = time=2.25, iter=1, bname=hsline, ");
blk(" btype=BHV_HSLine, event=spawn, ");
blk(" seed=helm_startup ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" IVPHELM_REJOURNAL = 1 ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit
void showReleaseInfoAndExit()
{
showReleaseInfo("uHelmScope", "gpl");
exit(0);
}