//******************************************************* // ShoreSide Configuration File ServerHost = localhost ServerPort = $(MOOS_PORT) Community = shoreside #include plug_origin_warp.moos //#define REGION1 -300,-250:-28.9,-121.5:121,-437.8:-171.5,-566.3 //#define REGION2 125,-50:394.1,78.5:546,-237.8:253.5,-366.3 //#define REGION1 -321.4,-204.8:-50.3,-76.3:99.6,-392.6:-192.9,-521.1 #define REGION2 114.3,-27.4:383.4,101.1:535.3,-214.4:242.8,-343.7 //#define REGION1 -274,-127:286,-127:286,-447:-274,-447 #define REGION1 -274,-127:6,-127:6,-287:-274,-287 #define VNAMES abe:ben:cal:deb:eve:fin:max:ned:oak //-------------------------------------------------------- Processconfig = ANTLER { MSBetweenLaunches = 100 Run = MOOSDB @ NewConsole = false Run = pRealm @ NewConsole = false Run = pMarineViewer @ NewConsole = false Run = pLogger @ NewConsole = false Run = pShare @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldShoreBroker @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = uFldNodeComms @ NewConsole = false Run = uFldBloomStormSim @ NewConsole = false Run = uTimerScript @ NewConsole = false } #include plug_pShare.moos #include plug_pHostInfo.moos //-------------------------------------------------- // ufldnodecomms Configuration Block ProcessConfig = uFldNodeComms { AppTick = 2 CommsTick = 2 comms_range = 130 //260 critical_range = 130 //260 min_msg_interval = 0 max_msg_length = 10000 groups = false view_node_rpt_pulses = false //fixed_beam_width = 1.0 //beam_opaqueness = 0.0 //post_percentage = 100.0 } //-------------------------------------------------- // uFldShoreBroker Configuration Block ProcessConfig = uFldShoreBroker { AppTick = 1 CommsTick = 1 qbridge = DEPLOY, RETURN, STATION_KEEP, NODE_REPORT, NODE_MESSAGE qbridge = MOOS_MANUAL_OVERRIDE, APPCAST_REQ, AVOID qbridge = SAY_MOOS bridge = src=HEARTBEAT bridge = src=HELM_MAP_CLEAR, alias=HELM_MAP_CLEAR qbridge = MEDIATED_MESSAGE, ACK_MESSAGE qbridge = OPTION, PROX_UP_REGION, UP_MOVE, CURR_REGION qbridge = BLOOM_DETECTED, STORM_DETECTED qbridge = VECTOR_UPDATE, SAMPLE_LIST, OP_REGION_RESET qbridge = SENSOR_MEAS } //-------------------------------------------------- // pLogger Configuration Block ProcessConfig = pLogger { AppTick = 10 CommsTick = 10 File = LOG_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 Log = MIXED_STRAT_RNG_AVG @ 0 Log = UNSAMP_UNDETECT_BLOOMS_COMPLETED @ 0 Log = SAMPLED_BLOOMS_COMPLETED @ 0 Log = DETECTED_BLOOMS_COMPLETED @ 0 } //-------------------------------------------------------- ProcessConfig = pMarineViewer { AppTick = 4 CommsTick = 4 //tiff_file = forrest19.tif //tiff_file = MIT_SP.tif tiff_file = mit_sp_wide.tif set_pan_x = 189 set_pan_y = -84 zoom = 0.96 vehicles_shape_scale = 3.66 vehicles_name_mode = off circle_viewable_all = true point_viewable_labels = false polygon_viewable_all = true polygon_viewable_labels = false seglist_viewable_labels = false circle_viewable_labels = false //beat_flag = HEARTBEAT=true appcast_viewable = true appcast_color_scheme = indigo scope = DEPLOY_ALL action = STATION_KEEP_ALL = false action = STATION_KEEP_ALL = true action = RETURN_abe = true action = menu_key = RETURN_BEN # RETURN_BEN = true # STATION_KEEP_BEN = false action = RETURN_cal = true action = RETURN_deb = true action = RETURN_eve = true action = RETURN_fin = true action = RETURN_max = true action = RETURN_ned = true action = RETURN_oak = true button_one = DEPLOY # DEPLOY_ALL=true button_one = MOOS_MANUAL_OVERRIDE_ALL=false button_one = RETURN_ALL=false # STATION_KEEP_ALL=false button_two = RETURN # RETURN_ALL=true button_two = RETURN # STATION_KEEP_ALL=false button_three = ALLSTOP # DEPLOY_ALL=false button_four = STATION # STATION_KEEP_ALL=true button_five = SEARCH # OPTION_ALL=explore button_six = SAMPLE # OPTION_ALL=exploit button_seven = SWITCH # OPTION_ALL=migrate button_nine = REGION_1 #PROX_UP_REGION_ALL=$(REGION1) button_nine = UP_MOVE_ALL=region=pts={$(REGION1)},label=one button_nine = VECTOR_UPDATE_ALL=op_region=pts={$(REGION1)} button_nine = CURR_REGION_ALL=pts={$(REGION1)} button_nine = OP_REGION_RESET_ALL=true button_ten = REGION_2 #PROX_UP_REGION_ALL=$(REGION2) button_ten = UP_MOVE_ALL=region=pts={$(REGION2)},label=two button_ten = VECTOR_UPDATE_ALL=op_region=pts={$(REGION2)} button_ten = CURR_REGION_ALL=pts={$(REGION2)} button_ten = OP_REGION_RESET_ALL=true button_eleven = SAMPLE_LIST #SAMPLE_LIST_ALL=abe,ben cmd = label=DEPLOY, var=DEPLOY, sval=true, receivers=all:$(VNAMES) cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE, sval=false, receivers=all:$(VNAMES) cmd = label=DEPLOY, var=AVOID, sval=true, receivers=all:$(VNAMES) cmd = label=DEPLOY, var=RETURN, sval=false, receivers=all:$(VNAMES) cmd = label=DEPLOY, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES) cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES), color=pink cmd = label=DEPLOY_OFF, var=DEPLOY, sval=false, receivers=all:$(VNAMES) } //-------------------------------------------------------- // uProcessWatch Configuration Block ProcessConfig = uProcessWatch { AppTick = 1 CommsTick = 1 allow_retractions = true watch_all = true // default is true nowatch = uXMS* nowatch = uPokeDB* summary_wait = 10 } //------------------------------------------------------------ // uTimerScript configuration block ProcessConfig = uTimerScript { AppTick = 4 CommsTick = 4 paused = false reset_max = unlimited reset_time = end script_name = HEARTBEAT_SCRIPT event = var=HEARTBEAT, val="true", time=1 } //------------------------------------------------ // uFldBloomStormSim config block ProcessConfig = uFldBloomStormSim { AppTick = 1 CommsTick = 1 region1 = $(REGION1) region2 = $(REGION2) bloom_rad_max = 20 bloom_rad_min = 20 bloom_duration_min = 150 //1200 bloom_duration_max = 150 //1260 bloom_max_speed = 0.2 probability_of_new_bloom = 0.1 time_between_bloom_attempts = 60 // seconds only_post_in_region_one = true sensor_decay_parameter = 0.25 allow_storms = false storm_radius = 180 storm_max_angle = 2 // degrees storm_speed = 0.75 // m/s time_between_storms = 600000 // seconds storm_region = -1000,500:1000,500:1000,-1000:-1000,-1000 //app_logging=log }