//******************************************************* // ShoreSide Configuration File ServerHost = localhost ServerPort = 9000 Community = shoreside #include plug_origin_warp.moos //-------------------------------------------------------- Processconfig = ANTLER { MSBetweenLaunches = 100 Run = MOOSDB @ NewConsole = false Run = pMarineViewer @ NewConsole = false Run = pLogger @ NewConsole = false Run = uXMS @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pShare @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldShoreBroker @ NewConsole = false Run = uFldNodeComms @ NewConsole = false Run = pRealm @ NewConsole = false Run = uFldTaskMonitor @ NewConsole = false Run = uFldContactRangeSensor @ NewConsole = false Run = uChangeMyName @ NewConsole = false Run = uFldConvoyEval @ NewConsole = false } #include plug_pShare.moos #include plug_pHostInfo.moos #include plug_uFldConvoyEval.moos //--------------------------------------------------------- // pRealm Config Block ProcessConfig = pRealm { AppTick = 2 CommsTick = 2 hist_var = TASK_MGR_STATUS scope_set = name=task_mgr, vars=TASK_MGR_STATUS:MISSION_TASK:MISSION_TASK_ALL msg_max_hist = 50 } //--------------------------------------------------------- // uFldTaskMonitor Config Block ProcessConfig = uFldTaskMonitor { AppTick = 2 CommsTick = 2 } //-------------------------------------------------- // uFldNodeComms Configuration Block ProcessConfig = uFldNodeComms { AppTick = 2 CommsTick = 2 comms_range = 15000 critical_range = 25 min_msg_interval = 0 max_msg_length = 1000 groups = true ignore_group = gnd_truth view_node_rpt_pulses = false } //-------------------------------------------------- // pHostInfo configuration block from plugin ProcessConfig = pHostInfo { AppTick = 1 CommsTick = 1 } //-------------------------------------------------- // uXMS Configuration Block ProcessConfig = uXMS { AppTick = 1 CommsTick = 1 var = APPCAST_REQ_ALL, DEPLOY_ALL, RETURN_ALL, STATION_ALL var = STATION_HENRY, STATION_GILDA var = RETURN_UPDATES_HENRY, RETURN_UPDATES_GILDA } //-------------------------------------------------- // pLogger Configuration Block ProcessConfig = pLogger { AppTick = 10 CommsTick = 10 File = XLOG_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 } //-------------------------------------------------------- ProcessConfig = pMarineViewer { AppTick = 4 CommsTick = 4 tiff_file = MIT_SP.tif tiff_file_b = MIT_SP.tif set_pan_x = 0 set_pan_y = -440 zoom = 2.21 vehicles_shape_scale = 1 vehicles_name_mode = names circle_viewable_all = true //content_mode = realmcast realmcast_channel = abe:events appcast_viewable = true appcast_color_scheme = indigo appcast_font_size = small procs_font_size = small nodes_font_size = small watch_cluster = key=task_manager, vars=MISSION_TASK:TASK_WPT:TM_ALERT_REQUEST watch_cluster = key=messages, vars=NODE_MESSAGE_LOCAL:NODE_MESSAGE watch_cluster = key=states_bids, vars=TASK_OUR_STATE:TASK_OUR_BID:TASK_BID_RCVD:TRANSIT:MODE watch_cluster = key=contacts, vars=BCM_REPORT_REQUEST:CONTACTS_250:CONTACTS_5000 watch_cluster = key=mission, vars=DEPLOY:MOOS_MANUAL_OVERRIDE:RETURN:STATION:MODE watch_cluster = key=life_events, vars=TASK_WPT:IVPHELM_LIFE_EVENT stale_report_thresh = 10 stale_remove_thresh = 18 scope = PSHARE_INPUT_SUMMARY scope = NODE_BROKER_PING scope = DEPLOY_ALL action = STATION_ALL = false action = STATION_ALL = true left_context[depart_task] = MISSION_TASK_ALL = type=waypoint,id=wpt$[BIX],waypt_x=$[XPOS],waypt_y=$[YPOS],task_time=$[UTC] left_context[depart_task] = DEPLOY_ALL=true left_context[depart_task] = MOOS_MANUAL_OVERRIDE_ALL=false left_context[depart_task] = RETURN_ALL=false left_context[depart_task] = STATION_ALL=false //left_context[depart_task] = MOOS_MANUAL_OVERRIDE_ALL=false //left_context[depart_task] = DEPLOY_ALL=true //left_context[depart_task] = STATION_ALL=false //left_context[depart_task] = RETURN_ALL=false right_context[return_point] = RETURN_$[UP_VNAME_CLOSEST] = true right_context[return_point] = RETURN_UPDATES_$[UP_VNAME_CLOSEST] = points=$[XPOS],$[YPOS] right_context[station] = STATION_$[UP_VNAME_CLOSEST] = true button_one = DEPLOY # DEPLOY_ALL=true # color=light_green button_one = MOOS_MANUAL_OVERRIDE_ALL=false button_one = RETURN_ALL=false # STATION_ALL=false button_three = STATION:T # STATION_ALL=true button_four = STATION:F # STATION_ALL=false button_five = RETURN:T # RETURN_ALL=true button_six = RETURN:F # RETURN_ALL=false button_7 = ALL_STOP # DEPLOY_ALL=false button_8 = RESUME # DEPLOY_ALL=true //button_9 = COMPRESS_10 # UP_CONVOY_ALL=compression=0.1 //button_10 = COMPRESS_25 # UP_CONVOY_ALL=compression=0.25 button_9 = STOP_VIEW # VISUALIZE_HM_NAV=false button_9 = STOP_VIEW # VISUALIZE_TARGET=false button_9 = STOP_VIEW # VISUALIZE_NAV=false button_10 = VIEW_TARGET:T # VISUALIZE_TARGET=true button_11 = VIEW_NAV:T # VISUALIZE_NAV=true button_12 = VIEW_HM_NAV:T # VISUALIZE_HM_NAV=true button_13 = GPS_Jing:T # BLOCK_GPS_JING=false button_14 = GPS_Jing:F # BLOCK_GPS_JING=true button_15 = GPS_Kirk:T # BLOCK_GPS_KIRK=false button_16 = GPS_Kirk:F # BLOCK_GPS_KIRK=true button_17 = GPS_Ida:T # BLOCK_GPS_IDA=false button_18 = GPS_Ida:F # BLOCK_GPS_IDA=true button_19 = GPS_Gus:T # BLOCK_GPS_GUS=false button_20 = GPS_Gus:F # BLOCK_GPS_GUS=true cmd = label=DEPLOY, var=DEPLOY, sval=true, receivers=all:$(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:$(VNAMES) cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES) cmd = label=FASTER, var=WPT_UPDATE, sval=speed=1.8, receivers=all:$(VNAMES) cmd = label=SLOWER, var=WPT_UPDATE, sval=speed=0.6, receivers=all:$(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 = 12 } //-------------------------------------------- uFldContactRangeSensor ProcessConfig = uFldContactRangeSensor { AppTick = 4 CommsTick = 4 ground_truth = false ignore_group = normal //push_distance = cadmus = 50 //push_distance = archie = 190 push_distance = default = 1000 ping_wait = default = 4 //ping_wait = jing_GT = 10 //ping_wait = kirk_GT = 10 //ping_wait = ida_GT = 10 //ping_wait = gus_GT = 10 ping_color = invisible echo_color = invisible display_pulses = false report_vars = long allow_echo_types = uuv,auv,glider,kayak //rn_uniform_pct = 0.04 rn_gaussian_sigma = 0.5 } //------------------------------------------------ // uChangeMyName config block ProcessConfig = uChangeMyName { AppTick = 4 CommsTick = 4 trigger = CRS_RANGE_REPORT_JING_GT, trigger_type = on_receipt, in = TARGET_TRACK_JING, out = TARGET_TRACK_OUT trigger = CRS_RANGE_REPORT_KIRK_GT, trigger_type = on_receipt, in = TARGET_TRACK_KIRK, out = TARGET_TRACK_OUT trigger = CRS_RANGE_REPORT_GUS_GT, trigger_type = on_receipt, in = TARGET_TRACK_GUS, out = TARGET_TRACK_OUT trigger = CRS_RANGE_REPORT_IDA_GT, trigger_type = on_receipt, in = TARGET_TRACK_IDA, out = TARGET_TRACK_OUT trigger = VISUALIZE_TARGET, trigger_type = true, in = VIEW_SEGLIST_TARGET, out = VIEW_SEGLIST trigger = VISUALIZE_NAV, trigger_type = true, in = VIEW_SEGLIST_NAV, out = VIEW_SEGLIST trigger = VISUALIZE_HM_NAV, trigger_type = true, in = VIEW_SEGLIST_HM_NAV, out = VIEW_SEGLIST trigger = VISUALIZE_NAV, trigger_type = true, in = VIEW_RANGE_JING, out = VIEW_CIRCLE trigger = VISUALIZE_NAV, trigger_type = true, in = VISUALIZE_RANGE_CENTER_JING, out = VIEW_POINT } //-------------------------------------------------- // uFldShoreBroker Configuration Block ProcessConfig = uFldShoreBroker { AppTick = 1 CommsTick = 1 // Note: [QBRIDGE = FOO] is shorthand for // [BRIDGE = src=FOO_$V, alias=FOO] and // [BRIDGE = src=FOO_ALL, alias=FOO] qbridge = DEPLOY, RETURN, STATION, NODE_MESSAGE , NODE_REPORT qbridge = MOOS_MANUAL_OVERRIDE, APPCAST_REQ, AVOID, UP_LOITER qbridge = RETURN_UPDATES, BCM_DISPLAY_RADII, USMT_ENABLED, REALMCAST_REQ qbridge = USMT_MOD_TOWLEN, USMT_SET_TOWLEN, TOM_WELCOME, TOM_PURSUE qbridge = MISSION_TASK, UP_CONVOY qbridge = BLOCK_GPS bridge = src=UP_LOITER_$N, alias=UP_LOITER bridge = src=DRIFT_VECTOR_ADD, alias=DRIFT_VECTOR_ADD bridge = src=HELM_MAP_CLEAR, alias=HELM_MAP_CLEAR bridge = src=TARGET_TRACK_OUT, alias=TARGET_TRACK bridge = src=CRS_RANGE_REPORT_$V_GT, alias=CRS_RANGE_REPORT }