/*****************************************************************/ /* NAME: Michael Benjamin */ /* ORGN: Dept of Mechanical Engineering, MIT, Cambridge MA */ /* FILE: USM_Info.cpp */ /* DATE: July 6th 2011 */ /* DATE: July 1st 2022 */ /* */ /* This is unreleased BETA code. No permission is granted or */ /* implied to use, copy, modify, and distribute this software */ /* except by the author(s), or those designated by the author. */ /*****************************************************************/ #include #include #include "USM_Info.h" #include "ColorParse.h" #include "ReleaseInfo.h" using namespace std; //---------------------------------------------------------------- // Procedure: showSynopsis void showSynopsis() { blk("SYNOPSIS: "); blk("------------------------------------ "); blk(" The uSimMarineV22 application is a simple 3D vehicle simulator"); blk(" that updates vehicle state, position and trajectory, based on "); blk(" the present actuator values and prior vehicle state. Typical "); blk(" usage scenario has a single instance of uSimMarineV22 "); blk(" associated with each simulated vehicle. "); blk(" uSimMarineV22 is a derivative of the original uSimMarine. This"); blk(" new version has the abililty to embed a PID controller within "); blk(" the simulator for tighter coordination between sim and control"); blk(" which allows for much higher time warp simulations. "); blk(" The PID controller is the same as in pMarinePIDV22. "); blk(" uSimMarineV22 also supports simulation for sailing, and the "); blk(" use of wormholes."); } //---------------------------------------------------------------- // Procedure: showHelpAndExit() void showHelpAndExit() { blu("=============================================================== "); blu("Usage: uSimMarineV22 file.moos [OPTIONS] "); blu("=============================================================== "); blk(" "); showSynopsis(); blk(" "); blk("Options: "); mag(" --alias","= "); blk(" Launch uSimMarineV22 with the given process name rather "); blk(" than uSimMarineV22. "); 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 uSimMarineV22. "); 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. "); exit(0); } //---------------------------------------------------------------- // Procedure: showExampleConfigAndExit() void showExampleConfigAndExit() { blu("=============================================================== "); blu("uSimMarineV22 Example MOOS Configuration "); blu("=============================================================== "); blk(" "); blk("ProcessConfig = uSimMarineV22 "); blk("{ "); blk(" AppTick = 4 "); blk(" CommsTick = 4 "); blk(" "); blk(" start_x = 0 "); blk(" start_y = 0 "); blk(" start_heading = 0 "); blk(" start_speed = 0 "); blk(" start_depth = 0 "); blk(" start_pos = x=0, y=0, speed=0, heading=0, depth=0 "); blk(" "); blk(" drift_x = 0 "); blk(" drift_y = 0 "); blk(" rotate_speed = 0 "); blk(" drift_vector = 0,0 "," // heading, magnitude "); blk(" "); blk(" turn_spd_map_full_speed = 1 // meters/sec (Default = 1) "); blk(" turn_spd_map_null_speed = 0 // meters/sec (Default = 0) "); blk(" turn_spd_map_full_rate = 100 // Range [0,100] (Default = 100)"); blk(" turn_spd_map_null_rate = 0 // Range [0,100] (Default = 0) "); blk(" "); blk(" buoyancy_rate = 0.025 // meters/sec "); blk(" max_acceleration = 0 // meters/sec^2 "); blk(" max_deceleration = 0.5 // meters/sec^2 "); blk(" max_depth_rate = 0.5 // meters/sec "); blk(" max_depth_rate_speed = 2.0 // meters/sec "); blk(" "); blk(" wind_conditions = spd=3.3, dir=180 "); blk(" polar_plot = 0,0: 20,40: 45,65: 90,80: 110,90: "); blk(" 135,83: 150,83: 165,60: 180,50 "); blk(" "); blk(" sim_pause = false // or {true} "); blk(" dual_state = false // or {true} "); blk(" thrust_reflect = false // or {true} "); blk(" thrust_factor = 20 // range [0,inf) "); blk(" turn_rate = 70 // range [0,100] "); blk(" thrust_map = 0:0, 20:1, 40:2, 60:3, 80:5, 100:5 "); blk(" "); blk(" prefix = NAV_ ","// default is USM_ "); blk(" "); blk(" // BELOW are embedded PID controller config params "); blk(" depth_control = false "); blk(" "); blk(" // Yaw PID controller "); blk(" yaw_pid_kp = 0.4 "); blk(" yaw_pid_kd = 0.1 "); blk(" yaw_pid_ki = 0.0 "); blk(" yaw_pid_integral_limit = 0.07 "); blk(" "); blk(" // Speed PID controller "); blk(" speed_pid_kp = 1.0 "); blk(" speed_pid_kd = 0.0 "); blk(" speed_pid_ki = 0.0 "); blk(" speed_pid_integral_limit = 0.07 "); blk(" "); blk(" // Maximums "); blk(" maxrudder = 100 "); blk(" maxthrust = 100 "); blk(" "); blk(" // A non-zero SPEED_FACTOR overrides use of SPEED_PID "); blk(" // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR "); blk(" speed_factor = 20 "); blk("} "); blk(" "); exit(0); } //---------------------------------------------------------------- // Procedure: showInterfaceAndExit void showInterfaceAndExit() { blk(" "); blu("=============================================================== "); blu("uSimMarineV22 INTERFACE "); blu("=============================================================== "); blk(" "); showSynopsis(); blk(" "); blk("SUBSCRIPTIONS: "); blk("------------------------------------ "); blk(" DESIRED_THRUST = [-100,100] "); blk(" DESIRED_RUDDER = [-100,100] "); blk(" DESIRED_ELEVATOR = [-100,100] "); blk(" "); blk(" DESIRED_THRUST_L = [-100,100] "); blk(" DESIRED_THRUST_R = [-100,100] "); blk(" "); blk(" THRUST_MODE_REVERSE = [true/false] "); blk(" THRUST_MODE_DIFFERENTIAL = [true/false] "); blk(" "); blk(" BUOYANCY_CONTROL = [-inf,+inf] "); blk(" BUOYANCY_RATE = [-inf,+inf] m/s "); blk(" CURRENT_FIELD = [true/false] "); blk(" DRIFT_X/CURRENT_X = [-inf,+inf] m/s "); blk(" DRIFT_Y/CURRENT_Y = [-inf,+inf] m/s "); blk(" DRIFT_VECTOR = [0,360),[0,+inf] "); blk(" DRIFT_VECTOR_ADD = [-inf,+inf] "); blk(" DRIFT_VECTOR_MULT = [-inf,+inf] "); blk(" ROTATE_SPEED = [0,inf] m/s "); blk(" TRIM_CONTROL = [-inf,+inf] "); blk(" WATER_DEPTH = [0,+inf] "); blk(" "); blk(" USM_RESET (value not read) "); blk(" USM_SIM_PAUSED = [true/false] "); blk(" USM_ENABLED = [true/false] "); blk(" USM_TURN_RATE = [0,100] "); blk(" "); blk(" WIND_CONDITIONS = spd=4, dir=155 "); blk(" OBSTACLE_HIT = true "); blk(" "); blk(" NAV_X "); blk(" NAV_Y "); blk(" NAV_HEADING "); blk(" "); blk("PUBLICATIONS: "); blk("------------------------------------ "); blk(" BUOYANCY_REPORT = status=2,error=0,buoyancy=0.0 "); blk(" TRIM_CONTROL = status=2,error=0,trim_pitch=0.0, "); blk(" trim_roll=0.0 "); blk(" USM_ALTITUDE = 100 "); blk(" USM_DEPTH = 45 "); blk(" USM_DRIFT_SUMMARY = ang=90, mag=1.5, xmag=90, ymag=0 "); blk(" USM_HEADING = 197 "); blk(" USM_HEADING_OVER_GROUND = 192 "); blk(" USM_LAT = 42.1293844 "); blk(" USM_LONG = -73.2398311 "); blk(" USM_SPEED = 1.33 "); blk(" USM_SPEED_OVER_GROUND = 2.09 "); blk(" USM_X = 34.9 "); blk(" USM_Y = 442.5 "); blk(" USM_YAW = 197 "); blk(" "); blk(" VIEW_POLYGON (when using a wormhole) "); blk(" VIEW_ARROW (when simulating wind) "); exit(0); } //---------------------------------------------------------------- // Procedure: showReleaseInfoAndExit() void showReleaseInfoAndExit() { showReleaseInfo("uSimMarineV22", "gpl"); exit(0); }