%--------------------------------------------------------------------- \section{Overview of the pFooBar Interface and Configuration Options} The \app{pFooBar} application may be configured with a configuration block within a \var{.moos} file. Its interface is defined by its publications and subscriptions for MOOS variables consumed and generated by other MOOS applications. An overview of the set of configuration options and interface is provided in this section. \subsection{Configuration Parameters of pFooBar} \index{pFooBar!Configuration Parameters} \index{Configuration Parameters!pFooBar} The following parameters are defined for \app{pFooBar}. A more detailed description is provided in other parts of this section. Parameters having default values indicate so in parentheses below. \index{pFooBar!Configuration Parameters!\var{WATCH}} \index{pFooBar!Configuration Parameters!\var{NOWATCH}} \index{pFooBar!Configuration Parameters!\var{WATCH\_ALL}} \index{pFooBar!Configuration Parameters!\var{POST\_MAPPING}} \index{pFooBar!Configuration Parameters!\var{SUMMARY\_WAIT}} \begin{table}[H] \renewcommand{\arraystretch}{1.2} \begin{minipage}[c]{1.0\textwidth} \begin{tabular}{rp{0.78\textwidth}} \var{NOWATCH:} & A process or list of MOOS processes to {\em not } watch. \\ \var{SUMMARY\_WAIT:} & A maximum amount of time between \var{PROC\_WATCH\_SUMMARY} postings (-1). \\ \var{WATCH:} & A process or list of MOOS process to watch and report on. \\ \var{WATCH\_ALL:} & If true, watch all processes that become known (true). \\ \end{tabular} \end{minipage} \end{table} \subsection{MOOS Variables Published by pFooBar} \index{pFooBar!Publications} \index{Publications!pFooBar} The primary output of \app{pFooBar} to the MOOSDB is a summary indicating whether or not certain other processes (MOOS apps) are presently connected. \index[vars]{\var{PROC\_WATCH\_SUMMARY}} \index[vars]{\var{PROC\_WATCH\_EVENT}} \index[vars]{\var{PROC\_WATCH\_FULL\_SUMMARY}} \begin{table}[H] \renewcommand{\arraystretch}{1.2} \begin{minipage}[c]{1.0\textwidth} \begin{tabular}{rp{0.72\textwidth}} \var{PROC\_WATCH\_EVENT}: & A report indicating a particular process has been noted to be gone missing or noted to have (re)joined the list of active processes. \\ \var{PROC\_WATCH\_FULL\_SUMMARY}: & A single string report for each process indicating how many times it has connected and disconnected from the MOOSDB. \\ \var{PROC\_WATCH\_SUMMARY}: & A report listing all missing processes, or ``All Present'' if no processes are missing. \\ \end{tabular} \end{minipage} \end{table} The user may also configure \app{pFooBar} to make a posting dedicated to a particular watched process. For example, with the configuration \var{WATCH = pNodeReporter:PNR\_OK}, the status of this process is conveyed in the MOOS variable \var{PNR\_OK}, set to either \var{"true"} or \var{"false"} depending on whether or not it is present. \pskip The variable name for any posted variable may be changed to a different name with the \var{POST\_MAPPING} configuration parameter. For example, \var{POST\_MAPPING = PROC\_WATCH\_EVENT, UPW\_EVENT} will result in events being posted under the \var{UPW\_EVENT} variable rather than \var{PROC\_WATCH\_EVENT} variable. \subsection{MOOS Variables Subscribed for by pFooBar} \index{pFooBar!Subscriptions} \index{Subscriptions!pFooBar} The following variable(s) will be subscribed for by \app{pFooBar}: \index[vars]{\var{DB\_CLIENTS}} \begin{table}[H] \renewcommand{\arraystretch}{1.2} \begin{minipage}[c]{1.0\textwidth} \begin{tabular}{rp{0.72\textwidth}} \var{DB\_CLIENTS}: & A comma-separated list of clients currently connected to the MOOSDB, generated by the MOOSDB process. \end{tabular} \end{minipage} \end{table} \subsection{Command Line Usage of pFooBar} \label{sec_pfb_cmdline} \index{Command Line Usage!pFooBar} \index{pFooBar!Command Line Usage} \index{Configuration Parameters!pFooBar} \index{pFooBar!Configuration Parameters} The \app{pFooBar} application is typically launched as a part of a batch of processes by pAntler, but may also be launched from the command line by the user. The command line options may be shown by typing \var{"pFooBar --help"}: \refstepcounter{listing} \vspace{0.1in} \noindent {\em {Listing \arabic{listing} - Command line usage for the pFooBar tool.}} \label{pfb_usage} \footnotesize \begin{verbatim} 0 Usage: pFooBar file.moos [OPTIONS] 1 2 Options: 3 --alias= 4 Launch pFooBar with the given process 5 name rather than pFooBar. 6 --example, -e 7 Display example MOOS configuration block 8 --help, -h 9 Display this help message. 10 --version,-v 11 Display the release version of pFooBar. \end{verbatim} \normalsize \subsection{An Example MOOS Configuration Block} As of MOOS-IvP Release 4.2, most if not all MOOS apps are implemented to support the \var{-e} or \var{--example} command-line switches. To see an example MOOS configuration block, enter the following from the command-line: \small \begin{verbatim} $ pFooBar -e \end{verbatim} \normalsize \vspace{0.05in} \noindent This will show the output shown in Listing \ref{pfb_econfig} below. \refstepcounter{listing} \vspace{0.25in} \noindent {\em {Listing \arabic{listing} - Example configuration of the pFooBar application.}} \label{pfb_econfig} \footnotesize \begin{verbatim} 0 =============================================================== 1 pFooBar Example MOOS Configuration 2 =============================================================== 3 4 ProcessConfig = pFooBar 5 { 6 AppTick = 4 7 CommsTick = 4 8 9 WATCH_ALL = true 10 11 WATCH = pNodeReporter 12 WATCH = pHelmIvP 13 14 NOWATCH = uXMS* 15 16 } \end{verbatim} \normalsize %--------------------------------------------------------------------- \section{Using and Configuring pFooBar} \label{sec_pfoobar_usage} Use this section to go into greater detail on the application. For example it may be good to explain just exactly how to configure the application's configuration parameters, and what they really mean. Likewise with the variables subscribed and published.