Common MOOS Task Parameters

Description

Publishes

• EndFlags When the task end condition is met these variables are written to in the server

Subscribes

• StartFlags These variables (set in script) are watched. When written to by another MOOS suite component they cause the task to go active (if it hasb't set its internal complete flag to true)

Configuration Block

• Name

  • Syntax: Name = TaskName
  • Meaning: Sets the name of the task
  • Example: Name = WP1 this task is called "WP1"

• InitialState

  • Syntax: InitialState = true/false
  • Meaning: Sets the initial active state of teh task
  • Example: InitialState = false at start up this task is of

• Priority

  • Syntax: Priority = Priority [0-Infinity]
  • Meaning: Sets the Priority of the task
  • Example: Priority = 3 task has Priority of 3

• TimeOut

  • Syntax: TimeOut = TimeOut/NEVER
  • Meaning: Sets the Timeout of the task in seconds
  • Example: Priority = NEVER task never timesout when active

• StartFlag

  • Syntax: StartFlag = Variable1,Variable2....
  • Meaning: Sets the flags that are watched to cause teh task to go active
  • Example: StartFlag = = WP3Done,EndMission Task goes active when either "WP3Done" or "EndMission" are written to

• EndFlag

  • Syntax: EndFlag = Variable1,Variable2....
  • Meaning: Sets the flags that are set when the task completes
  • Example: EndFlag = = WP2Done When task completes "WP2Dome" is written.

• EventFlag

  • Syntax: EventFlag = Variable1,Variable2....
  • Meaning: Sets the flags that are set when the task calls OnEvent()
  • Example: EventFlag = DepthExceeded When calling OnEvent() this task writes "DepthExceeded"

• LogPID

  • Syntax: LogPID = True/False
  • Meaning: sets weather the PID's in the task perform low level logging. The file is called TaskName_PIDType.pid
  • Example: LogPID = true Task will log its PID controller operatation.

The MOOS © P. Newman 2001-2002