//******************************************************* // 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 Run = uDisplayLLRegion @ NewConsole = false ~MarineSancuary Run = uDisplayLLRegion @ NewConsole = false ~ShippingLane Run = uDisplayLLRegion @ NewConsole = false ~ShippingLane2 } #include plugs.moos #include plugs.moos #include plugs.moos //-------------------------------------------------- // uFldNodeComms Config Block ProcessConfig = uFldNodeComms { AppTick = 2 CommsTick = 2 comms_range = 5000 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 = 20 } //-------------------------------------------------- // 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_$V, alias=RETURN qbridge = RESET_OPINIONS, OPTIONS_ACTIVE, REGROUP } //-------------------------------------------------- // pLogger Configuration Block ProcessConfig = pLogger { AppTick = 1 CommsTick = 1 File = XLOG_SHORESIDE PATH = ./ AsyncLog = true FileTimeStamp = true Log = GIVEN_OBSTACLE @ 0 nosync // Log it all!!!!! WildCardLogging = true WildCardOmitPattern = *_STATUS WildCardOmitPattern = *_ITER_GAP WildCardOmitPattern = *_ITER_LEN WildCardOmitPattern = APPCAST WildCardOmitPattern = DB_VARSUMMARY WildCardOmitPattern = DB_RWSUMMARY WildCardOmitPattern = PSHARE_OUTPUT_SUMMARY WildCardOmitPattern = DB_QOS WildCardOmitPattern = NODE_PSHARE_VARS WildCardOmitPattern = NODE_BROKER_VACK //WildCardOmitPattern = VIEW_COMMS_PULSE } //-------------------------------------------------------- ProcessConfig = pMarineViewer { AppTick = 2 CommsTick = 2 tiff_file = stellwagon.tif //tiff_file = MIT_SP.tif set_pan_x = -120 set_pan_y = -180 zoom = 1.04 vehicles_shape_scale = 1.5 vehicles_name_mode = names+shortmode polygon_viewable_all = true polygon_viewable_labels = false seglist_viewable_all = true seglist_viewable_labels = false point_viewable_all = true point_viewable_labels = false appcast_viewable = true appcast_color_scheme = indigo action = AVOID="true" action = LR_UPDATE_ALL="speed=1.5" action = LR_UPDATE_ALL="speed=1.6" action = LR_UPDATE_ALL="speed=1.7" action = LR_UPDATE_ALL="speed=1.8" action = LR_UPDATE_ALL="speed=1.9" action = LR_UPDATE_ALL="speed=2.0" comms_pulse_viewable_all = true range_pulse_viewable_all = false node_pulse_viewable_all = false vehicles_name_mode = names stale_report_thresh = 20 stale_remove_thresh = 20000 scope = UFJ_ARRIVALS left_context[return] = RETURN_UPDATES_$[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_1 = RESET_PAUSE=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_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 = 1 CommsTick = 1 paused = false reset_max = 0 reset_time = end delay_reset = 3 script_name = PLOT_LABELS script_atomic = true event = var=VIEW_POLYGON, val="$(BOTTOM_ZONE),fill_color=orange,edge_color=orange,fill_transparency=0.15", time=5 event = var=VIEW_POLYGON, val="$(TOP_ZONE),fill_color=dodger_blue,edge_color=dodger_blue,,fill_transparency=0.15", 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 = 1 CommsTick = 1 paused = true pause_var = RESET_PAUSE reset_max = unlimited reset_time = end delay_reset = 7200 //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 // 180 } //---------------------------------------- // uDisplayLLRegion ProcessConfig = MarineSancuary { AppTick = 0.5 CommsTick = 0.5 edge_color = pink vertex_color = pink edge_size = 4.0 vertex_size = 4.0 label = stellwagon_region // point=lat,lon point = 42.76671,-70.21664 point = 42.09330,-70.03506 point = 42.10239,-70.05434 point = 42.10081,-70.06707 point = 42.11752,-70.08658 point = 42.12038,-70.10607 point = 42.12675,-70.12388 point = 42.12853,-70.14005 point = 42.13342,-70.15497 point = 42.13481,-70.17292 point = 42.13210,-70.19605 point = 42.13339,-70.21707 point = 42.12970,-70.23889 point = 42.12435,-70.25585 point = 42.11526,-70.27800 point = 42.12924,-70.47043 point = 42.54830,-70.59737 point = 42.55850,-70.58697 point = 42.56347,-70.58388 point = 42.57522,-70.57254 point = 42.58075,-70.55558 point = 42.58790,-70.54179 point = 42.59504,-70.52843 point = 42.60651,-70.51587 point = 42.62107,-70.50588 point = 42.63312,-70.50132 point = 42.64245,-70.50130 point = 42.65123,-70.50262 point = 42.76671,-70.21664 } //---------------------------------------- // uDisplayLLRegion ProcessConfig = ShippingLane { AppTick = 0.5 CommsTick = 0.5 edge_color = red vertex_color = red edge_size = 4.0 vertex_size = 4.0 label = shipping_lane_top offset = -500 // meters // point=lat,lon point=42.379286,-70.644026 point=42.336157,-69.989653 point=42.151129,-69.86331 } //---------------------------------------- // uDisplayLLRegion ProcessConfig = ShippingLane2 { AppTick = 0.5 CommsTick = 0.5 edge_color = red vertex_color = red edge_size = 4.0 vertex_size = 4.0 label = shipping_lane_bottom offset = -500 // meters // point=lat,lon point=42.125162,-69.947767 point=42.27217,-70.048017 point=42.313312,-70.680418 }