//******************************************************* // ShoreSide Configuration File ServerHost = localhost ServerPort = $(SHORE_MOOSDB) Community = shoreside #include plugs.moos <origin_warp> //-------------------------------------------------------- Processconfig = ANTLER { MSBetweenLaunches = 100 Run = MOOSDB @ NewConsole = false Run = pRealm @ NewConsole = false Run = uTimerScript @ NewConsole = false Run = pMarineViewer @ NewConsole = false Run = pLogger @ NewConsole = false Run = uXMS @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pShare @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldShoreBroker @ NewConsole = false Run = uFldNodeComms @ NewConsole = false } //--------------------------------------------------------- // pRealm Config Block ProcessConfig = pRealm { AppTick = 2 CommsTick = 2 } //--------------------------------------------------------- // pShare Config Block ProcessConfig = pShare { AppTick = 2 CommsTick = 2 input = route = localhost:$(SHORE_PSHARE) } //-------------------------------------------------- // uMAC Configuration Block ProcessConfig = uMAC { AppTick = 1 CommsTick = 1 } //-------------------------------------------------- // uMACView Configuration Block ProcessConfig = uMACView { AppTick = 1 CommsTick = 1 watch_cluster = key=mission_top, vars=DEPLOY:RETURN watch_cluster = key=mission_top, vars=STATION_KEEP:LOITER:AVOID watch_cluster = key=mission2, vars=RETURN } //-------------------------------------------------- // uFldShoreBroker Configuration Block ProcessConfig = uFldShoreBroker { AppTick = 1 CommsTick = 1 // Note: [QBRIDGE = FOO] is shorthand for // [BRIDGE = src=FOO_$V, alias=FOO] and // [BRIDGE = src=FOO_ALL, alias=FOO] auto_bridge_appcast = true qbridge = DEPLOY, RETURN, STATION_KEEP, NODE_REPORT, NODE_MESSAGE qbridge = MOOS_MANUAL_OVERRIDE, AVOID, UP_LOITER qbridge = RETURN_UPDATES, BCM_DISPLAY_RADII qbridge = CONTACT_INFO, NODE_GROUP_UPDATE bridge = src=UP_LOITER_$N, alias=UP_LOITER bridge = src=DRIFT_VECTOR_ADD, alias=DRIFT_VECTOR_ADD bridge = src=HELM_MAP_CLEAR, alias=HELM_MAP_CLEAR bridge = src=MISSION_HASH, alias=MISSION_HASH } //-------------------------------------------------- // uFldNodeComms Configuration Block ProcessConfig = uFldNodeComms { AppTick = 2 CommsTick = 2 comms_range = 500 critical_range = 25 min_msg_interval = 15 max_msg_length = 1000 groups = true view_node_rpt_pulses = false } //-------------------------------------------------- // pHostInfo configuration block from plugin ProcessConfig = pHostInfo { AppTick = 1 CommsTick = 1 } //-------------------------------------------------- // uXMS Configuration Block ProcessConfig = uXMS { AppTick = 1 CommsTick = 1 var = APPCAST_REQ_ALL, DEPLOY_ALL, RETURN_ALL, STATION_KEEP_ALL var = STATION_KEEP_HENRY, STATION_KEEP_GILDA, MISSION_HASH var = RETURN_UPDATES_HENRY, RETURN_UPDATES_GILDA } //-------------------------------------------------- // pLogger Configuration Block ProcessConfig = pLogger { AppTick = 10 CommsTick = 10 File = XLOG_SHORESIDE PATH = ./ SyncLog = true @ 0.2 AsyncLog = true FileTimeStamp = true LogAuxSrc = true // Log it all!!!!! WildCardLogging = true WildCardOmitPattern = *_STATUS WildCardOmitPattern = DB_VARSUMMARY //WildCardOmitPattern = DB_RWSUMMARY } //-------------------------------------------------------- ProcessConfig = pMarineViewer { AppTick = 4 CommsTick = 4 watch_cluster = key=basic, vars=MISSION_HASH //mission_hash_var = off TIFF_FILE = forrest19.tif set_pan_x = -90 set_pan_y = -280 zoom = 0.65 vehicles_shape_scale = 1.5 vehicles_name_mode = names app_logging = true watch_cluster = key=mission_top, vars=DEPLOY:RETURN watch_cluster = key=mission_top, vars=STATION_KEEP:LOITER:AVOID circle_viewable_all = false content_mode = appcast // or realmcast realmcast_channel = mission_top appcast_color_scheme = indigo appcast_font_size = large procs_font_size = large nodes_font_size = large stale_report_thresh = 10 stale_remove_thresh = 18 scope = REALMCAST_REQ scope = REALMCAST_REQ_GILDA scope = REALMCAST_REQ_HENRY left_context[return_point] = RETURN_$[UP_VNAME_CLOSEST] = true left_context[return_point] = RETURN_UPDATES_$[UP_VNAME_CLOSEST] = points=$[XPOS],$[YPOS] left_context[station] = STATION_KEEP_$[UP_VNAME_CLOSEST] = true button_one = DEPLOY # DEPLOY_ALL=true button_one = MOOS_MANUAL_OVERRIDE_ALL=false button_one = AVOID_ALL=true button_one = RETURN_ALL=false # STATION_KEEP_ALL=false button_two = RETURN # RETURN_ALL=true button_two = RETURN # STATION_KEEP_ALL=false button_three = PERMUTE # UTS_FORWARD=0 button_five = STATION:true # STATION_KEEP_ALL=true button_six = STATION:false # STATION_KEEP_ALL=false } //-------------------------------------------------------- // uTimerScript Configuration Block ProcessConfig = uTimerScript { AppTick = 4 CommsTick = 4 paused = false reset_max = unlimited reset_time = end //randvar = varname=X1, min=-25, max=25, key=at_reset //randvar = varname=Y1, min=-100, max=-50, key=at_reset //randvar = varname=X2, min=100, max=150, key=at_reset //randvar = varname=Y2, min=-75, max=-25, key=at_reset randvar = varname=X1, min=0, max=5, key=at_reset randvar = varname=Y1, min=-80, max=-70, key=at_reset randvar = varname=X2, min=120, max=130, key=at_reset randvar = varname=Y2, min=-80, max=-70, key=at_reset event = var=UP_LOITER_2, val="center_assign=$[X1],$[Y1]", time=180 event = var=UP_LOITER_1, val="center_assign=$[X2],$[Y2]", time=180 event = var=UP_LOITER_1, val="center_assign=$[X1],$[Y1]", time=360 event = var=UP_LOITER_2, val="center_assign=$[X2],$[Y2]", time=360 } //-------------------------------------------------------- // uProcessWatch Configuration Block ProcessConfig = uProcessWatch { AppTick = 1 CommsTick = 1 allow_retractions = true watch_all = true // default is true nowatch = uXMS* nowatch = uMACView* nowatch = uPokeDB* summary_wait = 12 }