//******************************************************* // ShoreSide Configuration File ServerHost = localhost ServerPort = 9000 Community = shoreside #include plugs.moos //#define REGION1 x=100,y=-200 //#define REGION2 x=-135,y=-300 //#define REGION3 x=-185,y=-200 //#define REGION4 x=35,y=-110 //#define REGION5 x=-65,y=-220 #define REGION1 x=40,y=-70 #define REGION2 x=135.1,y=-139.1 #define REGION3 x=99.8,y=-250.9 #define REGION4 x=-18.8,y=-250.9 #define REGION5 x=-55.1,y=-139.1 #define REGION1_COLOR red #define REGION2_COLOR green #define REGION3_COLOR yellow #define REGION4_COLOR orange #define REGION5_COLOR pink #define BOTTOM_ZONE pts={82524,-9394:46544, -6277:50941,-25399:85338,-22811} #define TOP_ZONE pts={44677,1481:40143,21077:72470,38439:80910,-1782} //-------------------------------------------------------- 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 } #include plugs.moos #include plugs.moos #include plugs.moos //-------------------------------------------------- // uFldNodeComms Config Block ProcessConfig = uFldNodeComms { AppTick = 2 CommsTick = 2 comms_range = 3500 critical_range = 30 min_msg_interval = 0 max_msg_length = 10000 view_node_rpt_pulses = false groups = false fixed_beam_width = 100.0 beam_opaqueness = 0.0 post_percentage = 10.0 } //-------------------------------------------------- // 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_$V, alias=RETURN qbridge = RESET_OPINIONS, OPTIONS_ACTIVE, REGROUP } //-------------------------------------------------- // pLogger Configuration Block ProcessConfig = pLogger { AppTick = 10 CommsTick = 10 File = XLOG_SHORESIDE PATH = ./ AsyncLog = true FileTimeStamp = true Log = GIVEN_OBSTACLE @ 0 nosync // Log it all!!!!! WildCardLogging = true WildCardOmitPattern = *_STATUS WildCardOmitPattern = *_ITER_GAP WildCardOmitPattern = *_ITER_LEN WildCardOmitPattern = APPCAST WildCardOmitPattern = DB_VARSUMMARY WildCardOmitPattern = DB_RWSUMMARY } //-------------------------------------------------------- ProcessConfig = pMarineViewer { AppTick = 4 CommsTick = 4 tiff_file = juan_de_fuca_streetmap_12.tif set_pan_x = -3540 set_pan_y = -40 zoom = 1.25 vehicles_shape_scale = 1.5 vehicles_name_mode = names+shortmode polygon_viewable_all = true polygon_viewable_labels = false seglist_viewable_all = true seglist_viewable_labels = false point_viewable_all = true point_viewable_labels = false appcast_viewable = true appcast_color_scheme = indigo action = AVOID="true" action = LR_UPDATE_ALL="speed=1.5" action = LR_UPDATE_ALL="speed=1.6" action = LR_UPDATE_ALL="speed=1.7" action = LR_UPDATE_ALL="speed=1.8" action = LR_UPDATE_ALL="speed=1.9" action = LR_UPDATE_ALL="speed=2.0" comms_pulse_viewable_all = true range_pulse_viewable_all = false node_pulse_viewable_all = false vehicles_name_mode = names stale_report_thresh = 2 stale_remove_thresh = 20000 scope = UFJ_ARRIVALS left_context[return] = RETURN_UPDATES_$[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_4 = OPTIONS_ACTIVE_ALL=true button_5 = HOLD # OPTIONS_ACTIVE_ALL=false button_6 = OPT_ACTIVE # OPTIONS_ACTIVE_ALL=true //button_5 = REGROUP # REGROUP_ALL=true //button_6 = DISPERSE # REGROUP_ALL=false //button_7 = INC_BIAS_1 # BIAS_REGION1_INC_ALL=1 //button_8 = DEC_BIAS_1 # BIAS_REGION1_DEC_ALL=1 //button_9 = INC_BIAS_2 # BIAS_REGION2_INC_ALL=1 //button_10 = DEC_BIAS_2 # BIAS_REGION2_DEC_ALL=1 //button_11 = INC_BIAS_3 # BIAS_REGION3_INC_ALL=1 //button_12 = DEC_BIAS_3 # BIAS_REGION3_DEC_ALL=1 } //------------------------------------------ // uTimerScript configuration block ProcessConfig = uTimerScript { AppTick = 2 CommsTick = 2 paused = false reset_max = 0 reset_time = end delay_reset = 3 script_name = PLOT_LABELS script_atomic = true // event = var=VIEW_POLYGON, val="$(BOTTOM_ZONE),fill_color=orange,edge_color=orange", time=5 // event = var=VIEW_POLYGON, val="$(TOP_ZONE),fill_color=blue,edge_color=blue", time=6 // event = var=VIEW_TEXTBOX, val="x=65000,y=-16000,msg=BOTTOM_ZONE,fsize=80,mcolor=black", time=7 // event = var=VIEW_TEXTBOX, val="x=60500,y=14200,msg=TOP_ZONE,fsize=80,mcolor=black", time=8 // event = var=VIEW_TEXTBOX, val="x=37000,y=-2500,msg=SHIPPING_LANE,fsize=80,mcolor=black", time=9 } //------------------------------------------ // uTimerScript configuration block ProcessConfig = uTimerScript_reset { AppTick = 2 CommsTick = 2 paused = false reset_max = unlimited reset_time = end delay_reset = 120 //3000 // time of executing group choice script_name = RESET_OPINIONS script_atomic = true event = var=RESET_OPINIONS_ALL, val="true", time=0 event = var=OPTIONS_ACTIVE_ALL, val="true", time=0 event = var=OPTIONS_ACTIVE_ALL, val="false", time=60 }