//------------------------------------------------- // NAME: M. Benjamin, MIT CSAIL // FILE: alpha.moos //------------------------------------------------- ServerHost = localhost ServerPort = 9005 Community = alpha MOOSTimeWarp = 1 TERM_REPORTING = true // Forest Lake LatOrigin = 43.825300 LongOrigin = -70.330400 // MIT Sailing Pavilion (use this one) // LatOrigin = 42.358456 // LongOrigin = -71.087589 //------------------------------------------ // Antler configuration block ProcessConfig = ANTLER { MSBetweenLaunches = 200 Run = MOOSDB @ NewConsole = false Run = pLogger @ NewConsole = false Run = uSimMarine @ NewConsole = false Run = pMarinePID @ NewConsole = false Run = pHelmIvP @ NewConsole = false Run = pMarineViewer @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pNodeReporter @ NewConsole = false Run = uLoadWatch @ NewConsole = false //Run = iSay @ NewConsole = true //Run = uXMS @ NewConsole = false //Run = uTimerScript @ NewConsole = false } //------------------------------------------ ProcessConfig = uXMS { AppTick = 4 CommsTick = 4 var = WPT_EFFICIENCY_LEG var = WPT_EFFICIENCY_SUM var = WPT_EFFICIENCY_VAL } //------------------------------------------ ProcessConfig = iSay { AppTick = 10 CommsTick = 10 min_utter_interval = 1 interval_policy = from_end } //------------------------------------------ ProcessConfig = uTimerScript { AppTick = 4 CommsTick = 4 event = var=SAY_MOOS, val="say={one}", time=0.25 event = var=SAY_MOOS, val="say={two}", time=0.5 event = var=SAY_MOOS, val="say={three}", time=0.75 event = var=SAY_MOOS, val="say={four}", time=1 event = var=SAY_MOOS, val="say={five},priority=100", time=1.25 event = var=SAY_MOOS, val="say={six}", time=1.5 event = var=SAY_MOOS, val="say={seven}", time=1.75 event = var=SAY_MOOS, val="say={eight}", time=2 event = var=SAY_MOOS, val="say={nine}", time=2.25 reset_max = nolimit reset_time = all-posted delay_reset = 0.25 } //------------------------------------------ // uProcessWatch config block ProcessConfig = uProcessWatch { AppTick = 4 CommsTick = 4 summary_wait = 5 //nowatch = uXMS* nowatch = uMAC* nowatch = uPokeDB* nowatch = uTermCommand* watch_all = true } //------------------------------------------ // pLogger config block ProcessConfig = pLogger { AppTick = 8 CommsTick = 8 AsyncLog = true // For variables that are published in a bundle on their first post, // explicitly declare their logging request Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC LogAuxSrc = true WildCardLogging = true // WildCardOmitPattern = *_STATUS WildCardExclusionLog = true } //------------------------------------------ // uSimMarine config block ProcessConfig = uSimMarine { AppTick = 4 CommsTick = 4 start_x = 0 start_y = -20 start_heading = 180 start_speed = 0 prefix = NAV turn_rate = 40 thrust_map = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5 } //------------------------------------------ // pHelmIvP config block ProcessConfig = pHelmIvP { MaxAppTick = 10 AppTick = 4 CommsTick = 4 term_report_interval=0 bhv_dir_not_found_ok = true ivp_behavior_dir = /Users/ddmikerb behaviors = alpha.bhv domain = course:0:359:360 domain = speed:0:4:21 } //------------------------------------------ // pMarinePID config block ProcessConfig = pMarinePID { AppTick = 20 CommsTick = 20 VERBOSE = true DEPTH_CONTROL = false // SIM_INSTABILITY = 20 // Yaw PID controller YAW_PID_KP = 1.2 YAW_PID_KD = 0.0 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 } //------------------------------------------ // pMarineViewer config block ProcessConfig = pMarineViewer { AppTick = 4 CommsTick = 4 tiff_file = forrest19.tif set_pan_x = -90 set_pan_y = -280 zoom = 0.65 vehicle_shape_scale = 1.5 hash_delta = 50 hash_shade = 0.4 hash_viewable = true trails_point_size = 1 // Appcast configuration appcast_height = 75 appcast_width = 30 appcast_viewable = true appcast_color_scheme = indigo nodes_font_size = medium procs_font_size = medium appcast_font_size = small //datum_viewable = true //datum_size = 18 //gui_size = small left_context[survey-point] = DEPLOY=true left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false left_context[survey-point] = RETURN=false right_context[return] = DEPLOY=true right_context[return] = MOOS_MANUAL_OVERRIDE=false right_context[return] = RETURN=false left_context[polyvert] = POLY_VERT=x=$(XPOS),y=$(YPOS) scope = WPT_EFFICIENCY_LEG scope = WPT_EFFICIENCY_SUM scope = WPT_EFFICIENCY_VAL scope = RETURN scope = WPT_STAT scope = VIEW_SEGLIST scope = VIEW_POINT scope = VIEW_POLYGON scope = MVIEWER_LCLICK scope = MVIEWER_RCLICK button_one = DEPLOY # DEPLOY=true button_one = MOOS_MANUAL_OVERRIDE=false # RETURN=false button_two = RETURN # RETURN=true action = MENU_KEY=deploy # DEPLOY = true # RETURN = false action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false action = RETURN=true action = UPDATES_RETURN=speed=1.4 } //------------------------------------------ // pNodeReporter config block ProcessConfig = pNodeReporter { MaxAppTick = 2 AppTick = 2 CommsTick = 2 platform_type = KAYAK platform_length = 4 } // This block is here in conjunction with the uTermCommand // documentation to demonstrate functionality of that tool. // This mission may be alternately ProcessConfig = uTermCommandFoo { cmd = override_true --> MOOS_MANUAL_OVERRIDE --> true cmd = override_false --> MOOS_MANUAL_OVERRIDE --> false cmd = deploy_true --> DEPLOY --> true cmd = deploy_false --> DEPLOY --> false cmd = return_true --> RETURN --> true cmd = return_false --> RETURN --> false }