OpenUxAS-SoI/examples/02_Example_WaterwaySearch/cfg_WaterwaySearch.xml

<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<UxAS FormatVersion="1.0" EntityID="100"  EntityType="Aircraft">
    <Bridge Type="LmcpObjectNetworkTcpBridge" TcpAddress="tcp://127.0.0.1:5555" Server="FALSE">
        <SubscribeToMessage MessageType="afrl.cmasi.MissionCommand" />
        <SubscribeToMessage MessageType="afrl.cmasi.LineSearchTask" />
        <SubscribeToMessage MessageType="afrl.cmasi.VehicleActionCommand" />
    </Bridge>

    <Service Type="StatusReportService" VehicleID="400" />
    <Service Type="Test_SimulationTime"/>
    <Service Type="TaskManagerService"/>
    <Service Type="AutomationRequestValidatorService"/>
    <Service Type="RoutePlannerVisibilityService" TurnRadiusOffset_m="0.0" MinimumWaypointSeparation_m="50.0"/>
    <Service Type="RouteAggregatorService" />
    <Service Type="AssignmentTreeBranchBoundService" NumberNodesMaximum="0" CostFunction="MINMAX" />   
    <Service Type="AutomationDiagramDataService"/>

    <Service Type="WaypointPlanManagerService" VehicleID="400" NumberWaypointsToServe="15" NumberWaypointsOverlap="5"
             DefaultLoiterRadius_m="250"  param.turnType="FlyOver" AddLoiterToEndOfSegments="FALSE"
             AddLoiterToEndOfMission="FALSE" LoopBackToFirstTask="FALSE" GimbalPayloadId="1"/>
    <Service Type="WaypointPlanManagerService" VehicleID="500" NumberWaypointsToServe="15" NumberWaypointsOverlap="5"
             DefaultLoiterRadius_m="250"  param.turnType="FlyOver" AddLoiterToEndOfSegments="FALSE"
             AddLoiterToEndOfMission="FALSE" LoopBackToFirstTask="FALSE" GimbalPayloadId="1"/>

    <Service Type="PlanBuilderService" AssignmentStartPointLead_m="0.0"/>
    <Service Type="SendMessagesService" PathToMessageFiles="../MessagesToSend/">
        <Message MessageFileName="AirVehicleConfiguration_V400.xml" SendTime_ms="200"/>
        <Message MessageFileName="AirVehicleConfiguration_V500.xml" SendTime_ms="200"/>
        <Message MessageFileName="AirVehicleState_V400.xml" SendTime_ms="250"/>
        <Message MessageFileName="AirVehicleState_V500.xml" SendTime_ms="250"/>
        <Message MessageFileName="tasks/1000_LineSearch_LINE_Waterway_Deschutes.xml" SendTime_ms="300"/>
        <Message MessageFileName="tasks/1001_AutomationRequest_LINE_Waterway_Deschutes.xml" SendTime_ms="5000"/>
    </Service>
    <Service Type="MessageLoggerDataService" LogFileMessageCountLimit="1000" FilesPerSubDirectory="1000">
        <LogMessage MessageType="uxas" NumberMessagesToSkip="0"/>
        <LogMessage MessageType="afrl" NumberMessagesToSkip="0"/>    
    </Service>
    
    <!-- Send every message from zeromq bus to an external program using TCP -->
    <Bridge Type="LmcpObjectNetworkTcpBridge" TcpAddress="tcp://*:9999" Server="TRUE">
        <SubscribeToMessage MessageType="a" />
        <SubscribeToMessage MessageType="b" />
        <SubscribeToMessage MessageType="c" />
        <SubscribeToMessage MessageType="d" />
        <SubscribeToMessage MessageType="e" />
        <SubscribeToMessage MessageType="f" />
        <SubscribeToMessage MessageType="g" />
        <SubscribeToMessage MessageType="h" />
        <SubscribeToMessage MessageType="i" />
        <SubscribeToMessage MessageType="j" />
        <SubscribeToMessage MessageType="k" />
        <SubscribeToMessage MessageType="l" />
        <SubscribeToMessage MessageType="m" />
        <SubscribeToMessage MessageType="n" />
        <SubscribeToMessage MessageType="o" />
        <SubscribeToMessage MessageType="p" />
        <SubscribeToMessage MessageType="q" />
        <SubscribeToMessage MessageType="r" />
        <SubscribeToMessage MessageType="s" />
        <SubscribeToMessage MessageType="t" />
        <SubscribeToMessage MessageType="u" />
        <SubscribeToMessage MessageType="v" />
        <SubscribeToMessage MessageType="w" />
        <SubscribeToMessage MessageType="x" />
        <SubscribeToMessage MessageType="y" />
        <SubscribeToMessage MessageType="z" />
        <SubscribeToMessage MessageType="A" />
        <SubscribeToMessage MessageType="B" />
        <SubscribeToMessage MessageType="C" />
        <SubscribeToMessage MessageType="D" />
        <SubscribeToMessage MessageType="E" />
        <SubscribeToMessage MessageType="F" />
        <SubscribeToMessage MessageType="G" />
        <SubscribeToMessage MessageType="H" />
        <SubscribeToMessage MessageType="I" />
        <SubscribeToMessage MessageType="J" />
        <SubscribeToMessage MessageType="K" />
        <SubscribeToMessage MessageType="L" />
        <SubscribeToMessage MessageType="M" />
        <SubscribeToMessage MessageType="N" />
        <SubscribeToMessage MessageType="O" />
        <SubscribeToMessage MessageType="P" />
        <SubscribeToMessage MessageType="Q" />
        <SubscribeToMessage MessageType="R" />
        <SubscribeToMessage MessageType="S" />
        <SubscribeToMessage MessageType="T" />
        <SubscribeToMessage MessageType="U" />
        <SubscribeToMessage MessageType="V" />
        <SubscribeToMessage MessageType="W" />
        <SubscribeToMessage MessageType="X" />
        <SubscribeToMessage MessageType="Y" />
        <SubscribeToMessage MessageType="Z" />
    </Bridge>
    
    <!-- Send every message from zeromq bus to an external program using ZeroMQ
         Note: the external program must 'connect' using a SUB socket (for receive)
         and 'connect' with a separate PUSH socket (for send).  -->
    <Bridge Type="LmcpObjectNetworkPublishPullBridge" AddressPUB="tcp://*:5560" AddressPULL="tcp://*:5561">
        <SubscribeToMessage MessageType="a" />
        <SubscribeToMessage MessageType="b" />
        <SubscribeToMessage MessageType="c" />
        <SubscribeToMessage MessageType="d" />
        <SubscribeToMessage MessageType="e" />
        <SubscribeToMessage MessageType="f" />
        <SubscribeToMessage MessageType="g" />
        <SubscribeToMessage MessageType="h" />
        <SubscribeToMessage MessageType="i" />
        <SubscribeToMessage MessageType="j" />
        <SubscribeToMessage MessageType="k" />
        <SubscribeToMessage MessageType="l" />
        <SubscribeToMessage MessageType="m" />
        <SubscribeToMessage MessageType="n" />
        <SubscribeToMessage MessageType="o" />
        <SubscribeToMessage MessageType="p" />
        <SubscribeToMessage MessageType="q" />
        <SubscribeToMessage MessageType="r" />
        <SubscribeToMessage MessageType="s" />
        <SubscribeToMessage MessageType="t" />
        <SubscribeToMessage MessageType="u" />
        <SubscribeToMessage MessageType="v" />
        <SubscribeToMessage MessageType="w" />
        <SubscribeToMessage MessageType="x" />
        <SubscribeToMessage MessageType="y" />
        <SubscribeToMessage MessageType="z" />
        <SubscribeToMessage MessageType="A" />
        <SubscribeToMessage MessageType="B" />
        <SubscribeToMessage MessageType="C" />
        <SubscribeToMessage MessageType="D" />
        <SubscribeToMessage MessageType="E" />
        <SubscribeToMessage MessageType="F" />
        <SubscribeToMessage MessageType="G" />
        <SubscribeToMessage MessageType="H" />
        <SubscribeToMessage MessageType="I" />
        <SubscribeToMessage MessageType="J" />
        <SubscribeToMessage MessageType="K" />
        <SubscribeToMessage MessageType="L" />
        <SubscribeToMessage MessageType="M" />
        <SubscribeToMessage MessageType="N" />
        <SubscribeToMessage MessageType="O" />
        <SubscribeToMessage MessageType="P" />
        <SubscribeToMessage MessageType="Q" />
        <SubscribeToMessage MessageType="R" />
        <SubscribeToMessage MessageType="S" />
        <SubscribeToMessage MessageType="T" />
        <SubscribeToMessage MessageType="U" />
        <SubscribeToMessage MessageType="V" />
        <SubscribeToMessage MessageType="W" />
        <SubscribeToMessage MessageType="X" />
        <SubscribeToMessage MessageType="Y" />
        <SubscribeToMessage MessageType="Z" />
    </Bridge>
</UxAS>