OpenUxAS-SoI/examples/99_Tasks/CommRelayTask/README.md

Communication Relay Task

A task for providing communication relay support.

Files:

• cfg_CommRelayTask.xml - The UxAS configuration file for this example. This configuration file sets up the services and bridges.
• runUxAS_CommRelayTask.py - This script runs UxAS with the details in the UxAS configuration file
• runAMASE_CommRelayTask.py - This script runs AMASE with the AMASE configuration file.
• Scenario_CommRelayTask.xml - The AMASE configuration file for this example.
• MessagesToSend/ - Contains the messages send by UxAS with the send messages service.
• MessagesToSend/AirVehicleConfiguration_V101.xml - Details for air vehicle 101.
• MessagesToSend/AirVehicleState_V101.xml - Air vehicle 101's initial state.
• MessagesToSend/AirVehicleConfiguration_V102.xml - Details for air vehicle 102.
• MessagesToSend/AirVehicleState_V102.xml - Air vehicle 102's initial state.
• MessagesToSend/RadioTowerConfiguration_V21.xml - Details for radio tower 21.
• MessagesToSend/RadioTowerState_V21.xml - Radio tower 21's initial state.
• MessagesToSend/CommRelayTask_100.xml - The comm relay task to support vehicle 101.
• MessagesToSend/AutomationRequest_CommRelay.xml - The automation request for the communication relay task.
• MessagesToSend/PointSearchTask_200.xml - The point search task.
• MessagesToSend/AutomationRequest_PointSearch.xml - The automation request for the line search task.

Running the example:

1. Open a terminal window in the directory: "examples/tasks/CommRelayTask"
2. enter the command python3 runUxAS_CommRelayTask.py or ./runUxAS_CommRelayTask.py
3. open another terminal window in the directory: "examples/tasks/CommRelayTask"
4. enter the command python3 runAMASE_CommRelayTask.py or ./runAMASE_CommRelayTask.py
5. start the AMASE simulation (i.e. press the play button)

What happens?

• When the AMASE simulation starts, vehicles 101 and 102 will be initialized and begin flying east.
• After 1.5 seconds, an automation request for the point search task is sent.
• Once plans have been calculated, vehicle 101 will being performing the point search task.
• After 6 seconds, an automation request for the communication relay task is sent.
• Once the task has been calculated, vehicle 102 will begin performing the communication relay task.