/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: HazardMetric_Info.cpp */
/* DATE: Mar 12th 2012 */
/* */
/* This file is part of MOOS-IvP */
/* */
/* MOOS-IvP is free software: you can redistribute it and/or */
/* modify it under the terms of the GNU General Public License */
/* as published by the Free Software Foundation, either version */
/* 3 of the License, or (at your option) any later version. */
/* */
/* MOOS-IvP is distributed in the hope that it will be useful, */
/* but WITHOUT ANY WARRANTY; without even the implied warranty */
/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See */
/* the GNU General Public License for more details. */
/* */
/* You should have received a copy of the GNU General Public */
/* License along with MOOS-IvP. If not, see */
/* . */
/*****************************************************************/
#include
#include
#include "HazardMetric_Info.h"
#include "ColorParse.h"
#include "ReleaseInfo.h"
using namespace std;
//----------------------------------------------------------------
// Procedure: showSynopsis
void showSynopsis()
{
blk("SYNOPSIS: ");
blk("------------------------------------ ");
blk(" The uFldHazardMetric application is used for grading incoming ");
blk(" hazard reports, presumably generated by users of the ");
blk(" uFldHazardSensor after exploring a simulated hazard field. ");
}
//----------------------------------------------------------------
// Procedure: showHelpAndExit
void showHelpAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("Usage: uFldHazardMetric file.moos [OPTIONS] ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","= ");
blk(" Launch uFldHazardMetric with the given process name ");
blk(" rather than uFldHazardMetric. ");
mag(" --example, -e ");
blk(" Display example MOOS configuration block. ");
mag(" --help, -h ");
blk(" Display this help message. ");
mag(" --interface, -i ");
blk(" Display MOOS publications and subscriptions. ");
mag(" --version,-v ");
blk(" Display the release version of uFldHazardMetric. ");
blk(" ");
blk("Note: If argv[2] does not otherwise match a known option, ");
blk(" then it will be interpreted as a run alias. This is ");
blk(" to support pAntler launching conventions. ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showExampleConfigAndExit
void showExampleConfigAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("uFldHazardMetric Example MOOS Configuration ");
blu("=============================================================== ");
blk(" ");
blk("ProcessConfig = uFldHazardMetric ");
blk("{ ");
blk(" AppTick = 4 ");
blk(" CommsTick = 4 ");
blk(" ");
blk(" penalty_missed_hazard = 100 // default ");
blk(" penalty_false_alarm = 10 // default ");
blk(" penalty_max_time_over = 0 // default ");
blk(" penalty_max_time_rate = 0 // default ");
blk(" ");
blk(" max_time = 0 // default (no time limit) ");
blk(" hazard_file = hazards.txt ");
blk("} ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("uFldHazardMetric INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" APPCAST_REQ = (standard appcast request format) ");
blk(" HAZARDSET_REPORT = source=archie# ");
blk(" x=-151,y=-217.3,label=01# ");
blk(" x=-178.8,y=-234,label=15# ");
blk(" x=-59.8,y=-294.1,label=13 ");
blk(" HAZARD_SEARCH_START = true ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" APPCAST = (standard appcast format) ");
blk(" HAZARDSET_EVAL_VNAME = (see below HAZARDSET_EVAL) ");
blk(" HAZARDSET_EVAL_FULL_VNAME = (see below HAZARDSET_EVAL_FULL) ");
blk(" HAZARDSET_EVAL = vname=archie, ");
blk(" report_name=BillandJoe, ");
blk(" total_score=675, ");
blk(" norm_score=37.5, ");
blk(" score_missed_hazards=500, ");
blk(" score_false_alarms=175, ");
blk(" score_time_overage=0, ");
blk(" total_objects=10, ");
blk(" total_time=1284.91, ");
blk(" received_time=1314.05, ");
blk(" start_time=29.14, ");
blk(" missed_hazards=5, ");
blk(" correct_hazards=5, ");
blk(" false_alarms=5, ");
blk(" penalty_false_alarm=35, ");
blk(" penalty_missed_hazard=100, ");
blk(" penalty_max_time_over=100, ");
blk(" penalty_max_time_rate=0.05, ");
blk(" max_time=1800 ");
blk(" HAZARDSET_EVAL_FULL = (HAZARDSET_EVAL),object_report={ ");
blk(" label=01,truth=hazard,report=hazard# ");
blk(" label=02,truth=hazard,report=nothing,penalty=100# ");
blk(" ... ");
blk(" label=17,truth=benign,report=nothing# ");
blk(" label=18,truth=benign,report=hazard,penalty=35} ");
blk(" UHZ_MISSION_PARAMS = penalty_missed_hazard=100, ");
blk(" penalty_nonopt_hazard=55, ");
blk(" penalty_false_alarm=35, ");
blk(" penalty_max_time_over=200, ");
blk(" max_time=600, ");
blk(" penalty_max_time_rate=0.45, ");
blk(" transit_path_width=25, ");
blk(" search_region = pts={-150,-75:-150,-50:40,-50:40,-75}");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit
void showReleaseInfoAndExit()
{
showReleaseInfo("uFldHazardMetric", "gpl");
exit(0);
}