ServerHost = localhost ServerPort = $(MOOS_PORT) Community = $(VNAME) #include plug_origin_warp.moos //------------------------------------------------------------ ProcessConfig = ANTLER { MSBetweenLaunches = 100 Run = MOOSDB @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pShare @ NewConsole = false Run = pLogger @ NewConsole = false Run = pNodeReporter @ NewConsole = false Run = pMarinePID @ NewConsole = false Run = pContactMgrV20 @ NewConsole = false Run = pHelmIvP @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldNodeBroker @ NewConsole = false Run = pDeadManPost @ NewConsole = false Run = pRealm @ NewConsole = false Run = uFldMessageHandler @ NewConsole = false Run = pOpinionManager @ NewConsole = false Run = pHVUProtectNodeCtrl @ NewConsole = false //Run = pTaskManager @ NewConsole = false Run = pMediator @ NewConsole = false Run = pRealm @ NewConsole = false Run = pProxonoi2 @ NewConsole = false Run = pMediator @ NewConsole = false Run = pGroupComboAlloc @ NewConsole = false Run = pMultiAgentColFilt @ NewConsole = false #ifdef XMODE SIM Run = uSimMarine @ NewConsole = false #elseifdef XMODE M300 Run = iM300 @ NewConsole = false Run = iM300Health @ NewConsole = false #endif } #ifdef XMODE SIM #include plug_uSimMarine.moos #elseifdef XMODE M300 #include plug_iM300.moos #include plug_iM300Health.moos #endif #include plug_pShare.moos #include plug_pLogger.moos #include plug_pHostInfo.moos #include plug_uProcessWatch.moos #include plug_pOpinionManager.moos #include plug_pProxonoi.moos //--------------------------------------- ProcessConfig = pHelmIvP { AppTick = 4 CommsTick = 4 ok_skew = any behaviors = targ_$(VNAME).bhv verbose = false domain = course:0:359:360 domain = speed:0:2.0:21 hold_on_apps = pContactMgrV20 //, pTaskManager } //--------------------------------------- // pNodeReporter Config Block ProcessConfig = pNodeReporter { AppTick = 2 CommsTick = 2 vessel_type = heron group = blue_team } //------------------------------------------ ProcessConfig = pDeadManPost { AppTick = 4 CommsTick = 4 heartbeat_var = HEARTBEAT max_noheart = 15 post_policy = reset active_at_start = false deadflag = DEPLOY = false } //-------------------------------------------------- // uFldMessageHandler Config Block ProcessConfig = uFldMessageHandler { AppTick = 3 CommsTick = 3 strict_addressing = false } //-------------------------------------------------- // uFldNodeBroker Config Block ProcessConfig = uFldNodeBroker { AppTick = 1 CommsTick = 1 try_shore_host = pshare_route=$(SHORE_IP):$(SHORE_PSHARE) bridge = src=VIEW_POLYGON bridge = src=VIEW_POINT bridge = src=VIEW_SEGLIST bridge = src=VIEW_CIRCLE bridge = src=APPCAST bridge = src=TASK_MGR_STAT bridge = src=BVOI_STATE bridge = src=VOI_REGION_POLY bridge = src=CONVOY_RECAP bridge = src=CONVOY_STAT_RECAP bridge = src=CONVOY_SPD_POLICY bridge = src=NODE_REPORT_LOCAL, alias=NODE_REPORT //bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE bridge = src=MEDIATED_MESSAGE_LOCAL, alias=MEDIATED_MESSAGE bridge = src=ACK_MESSAGE_LOCAL, alias=ACK_MESSAGE bridge = src=NODE_STATUS_MSG } //--------------------------------------- // pMarinePIDV22 Config Block ProcessConfig = pMarinePID { AppTick = 10 CommsTick = 10 verbose = true depth_control = false active_start = true // Yaw PID controller (Set for M300) yaw_pid_kp = 0.9 yaw_pid_kd = 0.6 yaw_pid_ki = 0.3 yaw_pid_integral_limit = 0.3 // Speed PID controller speed_pid_kp = 1.0 speed_pid_kd = 0.0 speed_pid_ki = 0.0 speed_pid_integral_limit = 0.07 // Maximums maxrudder = 100 // 100 maxthrust = 100 // A non-zero SPEED_FACTOR overrides use of SPEED_PID // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR //SPEED_FACTOR = 20 deprecated_ok = true } //-------------------------------------------------------- // pContactMgrV20 config block ProcessConfig = pContactMgrV20 { AppTick = 2 CommsTick = 2 decay = 30,60 alert_verbose = true post_all_ranges = true contact_max_age = 35 display_radii_id = avd display_radii = false alert_range_color = gray70 cpa_range_color = gray30 } //------------------------------------------ // pMediator config block ProcessConfig = pMediator { AppTick = 4 CommsTick = 4 //app_logging = true no_ack_vars = OPINION_MESSAGE no_ack_vars = PROX_POLY_AREA resend_thresh = 3 max_tries = 20 } //------------------------------------------ // pTaskManager config block ProcessConfig = pTaskManager { AppTick = 4 CommsTick = 4 //app_logging = true //task_utc_mandatory = true max_appcast_events = 10 //ignore_msg = CONVOY_STAT_RECAP_ALLY } //------------------------------------------ // pRealm config block ProcessConfig = pRealm { AppTick = 4 CommsTick = 4 msg_max_hist = 20 trunc_length = 270 wrap_length = 90 summary_interval = 2.0 relcast_interval = 0.8 hist_var = MISSION_TASK hist_var = TASK_BID //hist_var = NODE_MESSAGE //hist_var = NODE_MESSAGE_LOCAL hist_var = TASK_STATE hist_var = TASK_MGR_STATUS hist_var = NODE_STATUS_MSG } //------------------------------------------------------------- //ProcessConfig = pProxonoi2 { AppTick = 4 CommsTick = 2 post_region = false post_poly = false } //------------------------------------------------------------- // pHVUProtectCtrl ProcessConfig = pHVUProtectNodeCtrl { AppTick = 4 CommsTick = 4 //inside_zone = format=ellipse, x=80, y=-180, major=160, minor=120, degs=25.0, pts=20, snap=0.1, label=inside_zone //outside_zone =format=ellipse, x=80, y=-180, major=400, minor=300, degs=25.0, pts=20, snap=0.1, label=outside_zone // these are smaller inside_zone = format=ellipse, x=60, y=-135, major=150, minor=113, degs=25.0, pts=20, snap=0.1, label=inside_zone outside_zone =format=ellipse, x=60, y=-135, major=300, minor=225, degs=25.0, pts=20, snap=0.1, label=outside_zone hvu_name = WAMV stop_zone_buffer = 10.0 min_batt = 11.5 max_batt = 15.5 // inputs for this option are from [-100, 100] intercept_input_range_of_max_val = 25 intercept_input_range_of_min_val = 100 intercept_input_max_val = 100 } //------------------------------------------------------------- // pGroupTrail ProcessConfig = pGroupComboAlloc { AppTick = 4 CommsTick = 4 post_behavior_updates = true //hvu_protect = true hvu_name = WAMV primary_trail_range = 25 // meters group_trail_range_offset = 25 // meters group_trail_angle_offset = 30 // degrees //app_logging = log } //------------------------------------------------ // pMultiAgentColFilt config block ProcessConfig = pMultiAgentColFilt { AppTick = 4 CommsTick = 4 verbose_visuals = true // default is false post_moos_manual_override = true // default is true post_rev_thrust = false // default is false emergency_rev_thrust_cmd = -70.0 own_state_stale_thresh = 1.0 stale_node_rec_thresh = 2.0 //nominal_fwd_reachable_set = pts={0.0,0.0:0.5,5.0:-0.5,5.0} nominal_fwd_reachable_set = pts={0.0,0.0:1.5,7.0:-1.5,7.0} nominal_fwd_speed = 1.0 }