//------------------------------------------------- // NAME: M. Benjamin, MIT CSAIL // FILE: alpha.moos //------------------------------------------------- ServerHost = localhost ServerPort = 9000 Community = alpha MOOSTimeWarp = 1 // Forest Lake //LatOrigin = 43.825300 //LongOrigin = -70.330400 // MIT Sailing Pavilion (use this one) //LatOrigin = 42.358456 //LongOrigin = -71.087589 // Marina Bay, Singapore LatOrigin = 1.286164 LongOrigin = 103.856314 //------------------------------------------ // Antler configuration block ProcessConfig = ANTLER { MSBetweenLaunches = 200 Run = MOOSDB @ NewConsole = false Run = pLogger @ NewConsole = false Run = uSimMarine @ NewConsole = false Run = pMarinePID @ NewConsole = false Run = pHelmIvP @ NewConsole = false Run = pMarineViewer @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pNodeReporter @ NewConsole = false Run = pObstacleMgr @ NewConsole = false Run = uTimerScript @ NewConsole = false } //------------------------------------------ ProcessConfig = pObstacleMgr { AppTick = 2 CommsTick = 2 } //------------------------------------------ ProcessConfig = uTimerScript { AppTick = 4 CommsTick = 4 delay_start = 1 rand_var = varname=RND_AX, type=gaussian, min=380, max=390, mu=385, sigma=2, key=at_reset rand_var = varname=RND_AY, type=gaussian, min=200, max=208, mu=204, sigma=2, key=at_reset rand_var = varname=RND_BX, type=gaussian, min=390, max=400, mu=395, sigma=2, key=at_reset rand_var = varname=RND_BY, type=gaussian, min=200, max=210, mu=205, sigma=2, key=at_reset rand_var = varname=RND_CX, type=gaussian, min=386, max=396, mu=391, sigma=2, key=at_reset rand_var = varname=RND_CY, type=gaussian, min=187, max=197, mu=192, sigma=2, key=at_reset rand_var = varname=RND_DX, type=gaussian, min=381, max=391, mu=386, sigma=2, key=at_reset rand_var = varname=RND_DY, type=gaussian, min=172, max=182, mu=177, sigma=2, key=at_reset rand_var = varname=RND_EX, type=gaussian, min=383, max=393, mu=388, sigma=2, key=at_reset rand_var = varname=RND_EY, type=gaussian, min=192, max=202, mu=197, sigma=2, key=at_reset rand_var = varname=RND_FX, type=gaussian, min=381, max=391, mu=386, sigma=2, key=at_reset rand_var = varname=RND_FY, type=gaussian, min=182, max=192, mu=187, sigma=2, key=at_reset rand_var = varname=RND_GX, type=gaussian, min=387, max=397, mu=392, sigma=2, key=at_reset rand_var = varname=RND_GY, type=gaussian, min=193, max=205, mu=198, sigma=2, key=at_reset reset_max = 8 reset_time = all-posted event = var=VIEW_POLYGON, val="pts={380,212 : 402,212 : 403,170 : 381,168}, edge_color=gray60, vertex_color=dodger_blue" event = var=VIEW_POINT, val="x=$[RND_AX],y=$[RND_AY],active=true,label=$[TCOUNT],msg=a,type=obstacle,label_color=invisible,vertex_color=grey60,vertex_size=1", time=1.44 event = var=VIEW_POINT, val="x=$[RND_BX],y=$[RND_BY],active=true,label=$[TCOUNT],msg=b,type=obstacle,label_color=invisible,vertex_color=grey60,vertex_size=1", time=2 event = var=VIEW_POINT, val="x=$[RND_CX],y=$[RND_CY],active=true,label=$[TCOUNT],msg=c,type=obstacle,label_color=invisible,vertex_color=grey60,vertex_size=1", time=2.3 event = var=VIEW_POINT, val="x=$[RND_DX],y=$[RND_DY],active=true,label=$[TCOUNT],msg=d,type=obstacle,label_color=invisible,vertex_color=grey60,vertex_size=1", time=2.3 event = var=VIEW_POINT, val="x=$[RND_EX],y=$[RND_EY],active=true,label=$[TCOUNT],msg=e,type=obstacle,label_color=invisible,vertex_color=grey60,vertex_size=1", time=2.3 event = var=VIEW_POINT, val="x=$[RND_FX],y=$[RND_FY],active=true,label=$[TCOUNT],msg=f,type=obstacle,label_color=invisible,vertex_color=grey60,vertex_size=1", time=2.3 event = var=VIEW_POINT, val="x=$[RND_GX],y=$[RND_GY],active=true,label=$[TCOUNT],msg=g,type=obstacle,label_color=invisible,vertex_color=grey60,vertex_size=1", time=2.3 event = var=TRACKED_FEATURE, val="x=$[RND_AX],y=$[RND_AY],label=a,color=1,size=2", time=1.44 event = var=TRACKED_FEATURE, val="x=$[RND_BX],y=$[RND_BY],label=b,color=2,size=2", time=2 event = var=TRACKED_FEATURE, val="x=$[RND_CX],y=$[RND_CY],label=c,color=3,size=2", time=2.3 event = var=TRACKED_FEATURE, val="x=$[RND_DX],y=$[RND_DY],label=d,color=3,size=2", time=2.3 event = var=TRACKED_FEATURE, val="x=$[RND_EX],y=$[RND_EY],label=e,color=3,size=2", time=2.3 event = var=TRACKED_FEATURE, val="x=$[RND_FX],y=$[RND_FY],label=f,color=3,size=2", time=2.3 event = var=TRACKED_FEATURE, val="x=$[RND_GX],y=$[RND_GY],label=g,color=3,size=2", time=2.3 } //------------------------------------------ // uProcessWatch config block ProcessConfig = uProcessWatch { AppTick = 4 CommsTick = 4 summary_wait = 5 nowatch = uXMS* nowatch = uMAC* nowatch = uPokeDB* nowatch = uTermCommand* watch_all = true } //------------------------------------------ // pLogger config block ProcessConfig = pLogger { AppTick = 8 CommsTick = 8 AsyncLog = true // For variables that are published in a bundle on their first post, // explicitly declare their logging request Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC Log = BHV_WARNING @ 0 NOSYNC LogAuxSrc = true WildCardLogging = true WildCardOmitPattern = *_STATUS WildCardOmitPattern = DB_VARSUMMARY WildCardOmitPattern = DB_RWSUMMARY WildCardExclusionLog = true } //------------------------------------------ // uSimMarine config block ProcessConfig = uSimMarine { AppTick = 4 CommsTick = 4 start_x = 390 start_y = 260 start_heading = 180 start_speed = 0 max_deceleration = 0.1 prefix = NAV turn_rate = 100 thrust_map = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5 thrust_reflect = true } //------------------------------------------ // pHelmIvP config block ProcessConfig = pHelmIvP { AppTick = 2 CommsTick = 2 term_report_interval=0 bhv_dir_not_found_ok = true ivp_behavior_dir = /Users/ddmikerb behaviors = alpha.bhv domain = course:0:359:360 domain = speed:0:4:21 } //------------------------------------------ // pMarinePID config block ProcessConfig = pMarinePID { AppTick = 20 CommsTick = 20 verbose = true depth_control = false // SIM_INSTABILITY = 20 // Yaw PID controller yaw_pid_kp = 1.2 yaw_pid_kd = 0.0 yaw_pid_ki = 0.3 yaw_pid_integral_limit = 0.07 // 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 maxthrust = 100 // A non-zero SPEED_FACTOR overrides use of SPEED_PID // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR speed_factor = 20 } //------------------------------------------ // pMarineViewer config block ProcessConfig = pMarineViewer { AppTick = 4 CommsTick = 4 tiff_file = AerialSingapore.tif set_pan_x = -262 set_pan_y = -181 zoom = 5.42 vehicle_shape_scale = 0.35 hash_delta = 50 hash_shade = 0.4 hash_viewable = true trails_point_size = 1 // Appcast configuration appcast_height = 75 appcast_width = 30 appcast_viewable = true appcast_color_scheme = indigo nodes_font_size = medium procs_font_size = medium appcast_font_size = small //left_context[polyvert] = POLY_VERT=x=$(XPOS),y=$(YPOS) left_context[pt] = VIEW_POINT = x=$(XPOS),y=$(YPOS),label=pt$(IX),vertex_color=white scope = DST_AVD_OBSTACLESC scope = RNG_AVD_OBSTACLESC scope = RNG_AVD_OBSTACLESA scope = POSE_KEEP scope = VIEW_POLYGON scope = VIEW_POINT scope = RETURN scope = WPT_STAT scope = VIEW_SEGLIST button_one = DEPLOY # DEPLOY=true button_one = MOOS_MANUAL_OVERRIDE=false # RETURN=false button_two = RETURN # RETURN=true } //------------------------------------------ // pNodeReporter config block ProcessConfig = pNodeReporter { AppTick = 2 CommsTick = 2 platform_type = wamv platform_length = 10 }