//------------------------------------------------- // Vehicle MOOS config file // M. Benjamin, MIT ServerHost = localhost ServerPort = $(MOOS_PORT) Community = $(VNAME) #include plugs.moos <origin_warp> //---------------------------------------------------- Processconfig = ANTLER { MSBetweenLaunches = 50 Run = MOOSDB @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pShare @ NewConsole = false Run = pLogger @ NewConsole = false Run = pNodeReporter @ NewConsole = false Run = pMarinePID @ NewConsole = false Run = pHelmIvP @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldNodeBroker @ NewConsole = false Run = uLoadWatch @ NewConsole = false Run = uMemWatch @ NewConsole = false Run = pContactMgrV20 @ NewConsole = false Run = pRealm @ NewConsole = false #ifdef XMODE SIM Run = uSimMarineV22 @ NewConsole = false #elseifdef XMODE M300 Run = iM300 @ NewConsole = false #endif } #ifdef XMODE SIM #include plugs.moos <uSimMarine> #elseifdef XMODE M300 #include plugs.moos <iM300> #endif #include plugs.moos <pShare> #include plugs.moos <pHostInfo> #include plugs.moos <uProcessWatch> //---------------------------------------------------- // pHelmIvP Config Block ProcessConfig = pHelmIvP { AppTick = 4 CommsTick = 4 //app_logging = true Behaviors = targ_$(VNAME).bhv Verbose = false Domain = course:0:359:360 Domain = speed:0:$(MAX_SPD):21 hold_on_apps = pContactMgrV20 } //---------------------------------------------------- // pNodeReporter Config Block ProcessConfig = pNodeReporter { AppTick = 2 CommsTick = 2 platform_color = $(COLOR) vessel_type = $(VTYPE=kayak) terse_reports = true } //-------------------------------------------------------- // pContactMgrV20 Config Block ProcessConfig = pContactMgrV20 { AppTick = 2 CommsTick = 2 decay = 30,60 alert_verbose = true contact_max_age = 35 display_radii = true display_radii_id = avd //match_region = pts = {60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40} //match_type = kayak, uuv post_closest_range = true display_radii = true alert_range_color = gray70 cpa_range_color = gray30 hold_alerts_for_helm = true } //-------------------------------------------------- // uFldNodeBroker Config Block ProcessConfig = uFldNodeBroker { AppTick = 1 CommsTick = 1 try_shore_host = pshare_route=$(SHORE_IP):$(SHORE_PSHARE) //shadow_shore = ip=192.168.7.22, name=henry, dur=45000 bridge = src=VIEW_POLYGON bridge = src=VIEW_CIRCLE bridge = src=VIEW_POINT bridge = src=VIEW_SEGLIST bridge = src=NODE_REPORT_LOCAL, alias=NODE_REPORT bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE } //-------------------------------------------------- // uLoadWatch Config Block ProcessConfig = uLoadWatch { AppTick = 1 CommsTick = 1 thresh = app=pHelmIvP, gapthresh=3 thresh = app=pHostInfo, gapthresh=5 thresh = app=any, gapthresh=2.0 thresh = app=uMemWatch, gapthresh=50 thresh = app=uSimMarineV22, gapthresh=3 breach_trigger = 5 } //-------------------------------------------------------- // uMemWatch Config Block ProcessConfig = uMemWatch { AppTick = 0.4 CommsTick = 0.4 absolute_time_gap = 2 watch_only = pHelmIvP } //----------------------------------------------------- // 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 = 1.2 yaw_pid_kd = 0.1 yaw_pid_ki = 0.3 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 } //-------------------------------------------------- // 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 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* // WildCardOmitPattern = DB_CLIENTS // WildCardOmitPattern = PHI_HOST*, NODE_REPORT_LOCAL }