//******************************************************* // ShoreSide Configuration File ServerHost = localhost ServerPort = 9000 Community = shoreside #include plugs.moos #define REGION1 x=40,y=-70 #define REGION2 x=126.6,y=-220.0 #define REGION3 x=-46.6,y=-220.0 #define REGION1_COLOR red #define REGION2_COLOR green #define REGION3_COLOR yellow //-------------------------------------------------------- Processconfig = ANTLER { MSBetweenLaunches = 100 Run = MOOSDB @ NewConsole = false #ifdef LAUNCH_GUI yes Run = pMarineViewer @ NewConsole = false #endif Run = pLogger @ NewConsole = false Run = pShare @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldShoreBroker @ NewConsole = false Run = uFldNodeComms @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pRealm @ NewConsole = false Run = uTimerScript @ NewConsole = false Run = uTimerScript @ NewConsole = false ~uTimerScript_reset Run = uFldEvalOption @ NewConsole = false } #include plugs.moos #include plugs.moos #include plugs.moos //-------------------------------------------------- // uFldNodeComms Config Block ProcessConfig = uFldNodeComms { AppTick = 2 CommsTick = 2 comms_range = 27 critical_range = 27 min_msg_interval = 0 max_msg_length = 10000 view_node_rpt_pulses = true groups = false fixed_beam_width = 0.7 pulse_duration = 1 beam_opaqueness = 0.0 post_percentage = 100.0 } //-------------------------------------------------- // uFldShoreBroker Config Block ProcessConfig = uFldShoreBroker { AppTick = 1 CommsTick = 1 qbridge = DEPLOY, NODE_REPORT, NODE_MESSAGE qbridge = STATION_KEEP, APPCAST_REQ, LR_UPDATE, RETURN_UPDATES qbridge = MOOS_MANUAL_OVERIDE, LOITER, WPT_UPDATE, LOITER_UPDATE bridge = src=AVOID, alias=AVOID bridge = src=RETURN_ALL, alias=RETURN bridge = src=RETURN_$V, alias=RETURN qbridge = RESET_OPINIONS, OPTIONS_ACTIVE, REGROUP qbridge = OPT_INPUT_RESET, SHOW_MARKER qbridge = BIAS_REGION1, BIAS_REGION2, BIAS_REGION3 } //-------------------------------------------------- // pLogger Configuration Block ProcessConfig = pLogger { AppTick = 10 CommsTick = 10 File = XLOG_SHORESIDE PATH = ./ AsyncLog = true FileTimeStamp = true Log = GIVEN_OBSTACLE @ 0 nosync // Log it all!!!!! WildCardLogging = true WildCardOmitPattern = *_STATUS WildCardOmitPattern = *_ITER_GAP WildCardOmitPattern = *_ITER_LEN WildCardOmitPattern = APPCAST WildCardOmitPattern = DB_VARSUMMARY WildCardOmitPattern = DB_RWSUMMARY } //-------------------------------------------------------- ProcessConfig = pMarineViewer { AppTick = 4 CommsTick = 4 tiff_file = MIT_SP.tif set_pan_x = -120 set_pan_y = -180 zoom = 1.04 vehicles_shape_scale = 1.5 vehicles_name_mode = names+shortmode polygon_viewable_all = true polygon_viewable_labels = false seglist_viewable_all = true seglist_viewable_labels = false point_viewable_all = true point_viewable_labels = false appcast_viewable = true appcast_color_scheme = indigo action = AVOID="true" action = LR_UPDATE_ALL="speed=1.5" action = LR_UPDATE_ALL="speed=1.6" action = LR_UPDATE_ALL="speed=1.7" action = LR_UPDATE_ALL="speed=1.8" action = LR_UPDATE_ALL="speed=1.9" action = LR_UPDATE_ALL="speed=2.0" comms_pulse_viewable_all = true range_pulse_viewable_all = false node_pulse_viewable_all = false vehicles_name_mode = names stale_report_thresh = 2 stale_remove_thresh = 20000 scope = UFJ_ARRIVALS //left_context[return] = RETURN_UPDATES_$[UP_VNAME_CLOSEST] = point=$[X],$[Y] //left_context[return] = RETURN_$[UP_VNAME_CLOSEST] = true //left_context[return] = STATION_KEEP_$[UP_VNAME_CLOSEST] = false button_1 = DEPLOY # DEPLOY_ALL=true button_1 = DEPLOY # MOOS_MANUAL_OVERIDE_ALL=false button_1 = RETURN_ALL=false # button_1 = STATION_KEEP_ALL=false # button_2 = STATION # DEPLOY_ALL=true button_2 = MOOS_MANUAL_OVERIDE_ALL=false button_2 = RETURN_ALL=false # button_2 = STATION_KEEP_ALL=true button_3 = RETURN # RETURN_ALL=true # LOITER_ALL=false button_4 = RESET # RESET_OPINIONS_ALL=true button_5 = REGROUP # REGROUP_ALL=true button_6 = DISPERSE # REGROUP_ALL=false button_7 = INC_BIAS_1 # BIAS_REGION1_ABE=1 button_7 = BIAS_REGION1_BEN=1 button_7 = BIAS_REGION1_CAL=1 button_7 = BIAS_REGION1_DEB=1 button_8 = RES_BIAS_1 # BIAS_REGION1_ABE=0 button_8 = BIAS_REGION1_BEN=0 button_8 = BIAS_REGION1_CAL=0 button_8 = BIAS_REGION1_DEB=0 button_9 = INC_BIAS_2 # BIAS_REGION2_ABE=1 button_9 = BIAS_REGION2_BEN=1 button_9 = BIAS_REGION2_CAL=1 button_9 = BIAS_REGION2_DEB=1 button_10 = RES_BIAS_2 # BIAS_REGION2_ABE=0 button_10 = BIAS_REGION2_BEN=0 button_10 = BIAS_REGION2_CAL=0 button_10 = BIAS_REGION2_DEB=0 button_11 = INC_BIAS_3 # BIAS_REGION3_ABE=1 button_11 = BIAS_REGION3_BEN=1 button_11 = BIAS_REGION3_CAL=1 button_11 = BIAS_REGION3_DEB=1 button_12 = RES_BIAS_3 # BIAS_REGION3_ABE=0 button_12 = BIAS_REGION3_BEN=0 button_12 = BIAS_REGION3_CAL=0 button_12 = BIAS_REGION3_DEB=0 } //------------------------------------------ // uTimerScript configuration block ProcessConfig = uTimerScript { AppTick = 2 CommsTick = 2 paused = false reset_max = 5 reset_time = end delay_reset = 3 script_name = PLOT_LABELS script_atomic = true event = var=VIEW_TEXTBOX, val="$(REGION1),msg=REGION 1,fsize=20,mcolor=$(REGION1_COLOR)", time=0 event = var=VIEW_TEXTBOX, val="$(REGION2),msg=REGION 2,fsize=20,mcolor=$(REGION2_COLOR)", time=1 event = var=VIEW_TEXTBOX, val="$(REGION3),msg=REGION 3,fsize=20,mcolor=$(REGION3_COLOR)", time=2 } //------------------------------------------ // uTimerScript configuration block ProcessConfig = uTimerScript_reset { AppTick = 2 CommsTick = 2 paused = false reset_max = unlimited reset_time = end delay_reset = 60 // time of executing group choice script_name = RESET_OPINIONS script_atomic = true event = var=REGROUP_ALL, val="true", time=0 event = var=SHOW_MARKER_ALL, val="false", time=0 event = var=OPT_INPUT_RESET_ALL, val="true", time=0 event = var=SHOW_MARKER_ALL, val="true", time=40 event = var=RESET_OPINIONS_ALL, val="true", time=40 event = var=OPTIONS_ACTIVE_ALL, val="true", time=40 #ifdef OPT_MODE consensus event = var=REGROUP_ALL, val="false", time= 65 event = var=OPTIONS_ACTIVE_ALL, val="false", time= 65 #elseifdef OPT_MODE dissensus event = var=REGROUP_ALL, val="false", time= 100 event = var=OPTIONS_ACTIVE_ALL, val="false", time= 100 #endif } //------------------------------------------ // uFldEvalOption configuration block ProcessConfig = uFldEvalOption { AppTick = 2 CommsTick = 2 // Assumes option messages will come in as // OPTION_vname // Assumes input values will come in as // INPUT_VAR_vname input_var = TOTAL_UTILITY_REGION1 input_var = TOTAL_UTILITY_REGION2 input_var = TOTAL_UTILITY_REGION3 text_x = 130 text_y = -60 text_font_size = 10 }