//------------------------------------------------- // NAME: M. Benjamin, MIT // FILE: $(VNAME).moos //------------------------------------------------- ServerHost = localhost ServerPort = $(BOT_MOOSDB) Community = $(VNAME) #include plug_origin_warp.moos //------------------------------------------------------------ Processconfig = ANTLER { MSBetweenLaunches = 100 Run = MOOSDB @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pShare @ NewConsole = false Run = uSimMarineV22 @ NewConsole = false Run = pLogger @ NewConsole = false Run = pNodeReporter @ NewConsole = false Run = pMarinePID @ NewConsole = false Run = pHelmIvP @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldNodeBroker @ NewConsole = false Run = uLoadWatch @ NewConsole = false Run = uMemWatch @ NewConsole = false Run = iSay @ NewConsole = false Run = pContactMgrV20 @ NewConsole = false } #include plug_uMemWatch.moos #include plug_pShare.moos #include plug_pHostInfo.moos #include plug_uProcessWatch.moos //---------------------------------------------------- // pHelmIvP Configuration Block ProcessConfig = pHelmIvP { AppTick = 4 CommsTick = 4 app_logging = true behaviors = targ_$(VNAME).bhv verbose = false domain = course:0:359:360 domain = speed:0:5:26 hold_on_apps = pContactMgrV20 } //-------------------------------------------------------- // pNodeReporter Configuration Block ProcessConfig = pNodeReporter { AppTick = 2 CommsTick = 2 vessel_type = kayak terse_reports = true } //-------------------------------------------------------- // pContactMgrV20 Configuration Block ProcessConfig = pContactMgrV20 { AppTick = 2 CommsTick = 2 decay = 30,60 alert_verbose = true contact_max_age = 35 display_radii = true display_radii_id = avd match_region = pts = {60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40} match_type = kayak, uuv alert = id=say, onflag=SAY_MOOS=hello, alert = id=say, offflag=SAY_MOOS=bye, alert = id=say, alert_range=180, cpa_range=200 display_radii = true alert_range_color = gray70 cpa_range_color = gray30 } //-------------------------------------------------- // uFldNodeBroker configuration block from plugin ProcessConfig = uFldNodeBroker { AppTick = 1 CommsTick = 1 try_shore_host = pshare_route=localhost:$(SHORE_PSHARE) bridge = src=VIEW_POLYGON bridge = src=VIEW_CIRCLE bridge = src=VIEW_POINT bridge = src=VIEW_SEGLIST bridge = src=APPCAST bridge = src=NODE_REPORT_LOCAL, alias=NODE_REPORT bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE } //----------------------------------------------------- // pMarinePID Config Block ProcessConfig = pMarinePID { AppTick = 10 CommsTick = 10 deprecated_ok = true VERBOSE = true DEPTH_CONTROL = false ACTIVE_START = true // Yaw PID controller YAW_PID_KP = 0.4 YAW_PID_KD = 0.1 YAW_PID_KI = 0.0 YAW_PID_INTEGRAL_LIMIT = 0.07 // Speed PID controller SPEED_PID_KP = 1.0 SPEED_PID_KD = 0.0 SPEED_PID_KI = 0.0 SPEED_PID_INTEGRAL_LIMIT = 0.07 // Maximums MAXRUDDER = 100 MAXTHRUST = 100 // A non-zero SPEED_FACTOR overrides use of SPEED_PID // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR SPEED_FACTOR = 20 } //---------------------------------------- // uSimMarineV22 Config Block ProcessConfig = uSimMarineV22 { AppTick = 10 CommsTick = 10 start_pos = $(START_POS), 180, 0 prefix = NAV //rotate_speed = 0.012 //drift_x = 0.0045 //thrust_map = -100:-2, 0:0, 20:1, 40:2, 60:3, 80:5, 100:5 //thrust_map = -100:-2, 0:0, 20:1, 40:2, 60:3, 80:5, 100:5 } //-------------------------------------------------------- // iSay Config Block ProcessConfig = iSay { AppTick = 4 CommsTick = 4 default_voice = alex // iSay --voices for others default_rate = 200 //interval_policy = from_end // or from_start interval_policy = from_start // or from_start min_utter_interval = 1 os_mode = osx // Default is "osx" } //-------------------------------------------------- // pLogger Config Block ProcessConfig = pLogger { AppTick = 5 CommsTick = 5 File = LOG_%(VNAME) PATH = ./ AsyncLog = true FileTimeStamp = true Log = IVPHELM_LIFE_EVENT @ 0 nosync Log = BCM_ALERT_REQUEST @ 0 nosync LogAuxSrc = true // Log it all!!!!! WildCardLogging = true WildCardOmitPattern = *_STATUS WildCardOmitPattern = APPCAST WildCardOmitPattern = DB_VARSUMMARY WildCardOmitPattern = DB_RWSUMMARY WildCardOmitPattern = NAV_PITCH, NAV_LAT, NAV_LONG, NAV_YAW, NAV_Z WildCardOmitPattern = SIMULATION_MODE, TRUE_X, TRUE_Y, DB_CLIENTS WildCardOmitPattern = NAV_DEPTH, NAV_SPEED_OVER_GROUND, DB_QOS WildCardOmitPattern = NODE_BROKER_PING_0, PSHARE* WildCardOmitPattern = IVPHELM_ALLSTOP_DEBUG, *ITER_GAP, *ITER_LEN WildCardOmitPattern = PHI_HOST*, NODE_REPORT_LOCAL }