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OpenUxAS/examples/03_Example_DistributedCooperation/cfgDistributedCooperation_2000.xml

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Project for multi-UAV cooperative decision making
2017-05-07 11:03:58 -04:00
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<UxAS EntityID="2000" FormatVersion="1.0" EntityType="Aircraft">
Updated Distributed Cooperation Example for use with AMASE
2017-06-07 14:26:31 -04:00
<!-- NOTE:: "NetworkDevice" must be set equal to an active network interface device, e.g. wlan0 -->
Confirmed ZMQ upgrade passes test on all platforms
2017-12-20 16:58:36 -05:00
<!-- on Linux and Mac, type 'ifconfig' to find interface name -->
Distributed cooperation example instructions for Windows
2017-12-20 16:46:26 -05:00
<!-- on Windows, type 'ipconfig' to find interface name (name is after adapter type)
Windows example name: Wireless Network Connection
-->
Feature/create run example (#40) * Intermediate progress * Update run-example Delaying while OpenAMASE opens appears to be important. It takes a while for OpenAMASE to actually open, and the user is supposed to click on the run button before OpenUxAS instances start. The five seconds offered by some examples is insufficient, and may not be guaranteed in any case. We make the delay configurable, so that the user can remove or adjust it, as needed. We also make sure that we kill off forked subprocesses and report if we're unable to do so. * Rename the Ada Waterway Search example Suggesting this naming convention so that we can create other examples that use the Ada UxAS more easily. * Add two additional configs Configs for Examples 03 and 05 * Update config for example 03 This should work out of the box on modern Linux. * Add config-driven delay after OpenAMASE starts This is important for the Ada example, although it may be related to the way in which we implemented it. * Enhance run-example - Fix error when OpenAMASE does not run - Handle Ctrl-C gracefully (shut down all subprocesses) - Allow a relative or absolute path to the example to be specified - this is nice, because then tab-complete works * Add missing example configs Also make sure that each ends with a newline (nice for `cat`). * Use Test_SimulationTime service to sync with AMASE Removes the need for any timeout to start UxAS instances. * Fix example 05_AssignTasks Adding the Test_SimulationTime service + a longer timeout on task assignment allows the example to run correctly.
2020-05-14 13:49:06 -04:00
<Bridge Type="LmcpObjectNetworkZeroMqZyreBridge" NetworkDevice="eth0">
Project for multi-UAV cooperative decision making
2017-05-07 11:03:58 -04:00
<SubscribeToExternalMessage MessageType="afrl.cmasi.AirVehicleState"/>
<SubscribeToExternalMessage MessageType="uxas.messages.task.AssignmentCoordination"/>
</Bridge>
Updated Distributed Cooperation Example for use with AMASE
2017-06-07 14:26:31 -04:00
<!-- Connect to AMASE on a single vehicle port (see config folder in OpenAMASE) -->
<Bridge Type="LmcpObjectNetworkTcpBridge" TcpAddress="tcp://127.0.0.1:9900" Server="FALSE" ConsiderSelfGenerated="TRUE">
<SubscribeToMessage MessageType="afrl.cmasi.MissionCommand" />
<SubscribeToMessage MessageType="afrl.cmasi.LineSearchTask" />
<SubscribeToMessage MessageType="afrl.impact.ImpactLineSearchTask" />
<SubscribeToMessage MessageType="afrl.impact.AngledAreaSearchTask" />
<SubscribeToMessage MessageType="afrl.cmasi.AreaSearchTask" />
<SubscribeToMessage MessageType="afrl.cmasi.VehicleActionCommand" />
<SubscribeToMessage MessageType="afrl.cmasi.KeepInZone" />
<SubscribeToMessage MessageType="afrl.cmasi.KeepOutZone" />
</Bridge>
<Service Type="Test_SimulationTime"/>
Project for multi-UAV cooperative decision making
2017-05-07 11:03:58 -04:00
<Service Type="TaskManagerService"/>
<Service Type="AutomationRequestValidatorService"/>
<Service Type="SensorManagerService"/>
<Service Type="RouteAggregatorService"/>
<Service Type="RoutePlannerVisibilityService" MinimumWaypointSeparation_m="50"/>
<Service Type="AssignmentTreeBranchBoundService" NumberNodesMaximum="0" CostFunction="MINMAX" />
<Service Type="PlanBuilderService"/>
<Service Type="AutomationDiagramDataService"/>
Updated Distributed Cooperation Example for use with AMASE
2017-06-07 14:26:31 -04:00
<Service Type="WaypointPlanManagerService" VehicleID="2000" NumberWaypointsToServe="1000" NumberWaypointsOverlap="5"
DefaultLoiterRadius_m="250" param.turnType="FlyOver" AddLoiterToEndOfSegments="FALSE"
AddLoiterToEndOfMission="FALSE" LoopBackToFirstTask="FALSE" GimbalPayloadId="1" />
Project for multi-UAV cooperative decision making
2017-05-07 11:03:58 -04:00
<Service Type="SendMessagesService" PathToMessageFiles="../MessagesToSend/">
<Message MessageFileName="AirVehicleConfiguration_V1000.xml" SendTime_ms="50"/>
<Message MessageFileName="AirVehicleConfiguration_V2000.xml" SendTime_ms="60"/>
<!-- boundaries -->
<Message MessageFileName="KeepOutZone_10.xml" SendTime_ms="200"/>
<Message MessageFileName="KeepOutZone_11.xml" SendTime_ms="210"/>
<Message MessageFileName="OperatingRegion_100.xml" SendTime_ms="240"/>
<!-- geometry for impact tasks -->
<Message MessageFileName="AreaOfInterest_100.xml" SendTime_ms="300"/>
<Message MessageFileName="LineOfInterest_101.xml" SendTime_ms="310"/>
<!-- the tasks -->
<Message MessageFileName="AreaSearchTask_50.xml" SendTime_ms="400"/>
<Message MessageFileName="AngledAreaSearchTask_51.xml" SendTime_ms="410"/>
<Message MessageFileName="ImpactLineSearchTask_21.xml" SendTime_ms="490"/>
<Message MessageFileName="LineSearchTask_20.xml" SendTime_ms="500"/>
<Message MessageFileName="LineSearchTask_30.xml" SendTime_ms="510"/>
<!-- The assignment coordinator -->
<Message MessageFileName="AssignmentCoordinatorTask.xml" SendTime_ms="1000"/>
Updated Distributed Cooperation Example for use with AMASE
2017-06-07 14:26:31 -04:00
<!-- <Message MessageFileName="AirVehicleState_V2000.xml" SendTime_ms="2000"/> -->
Project for multi-UAV cooperative decision making
2017-05-07 11:03:58 -04:00
<!-- coordniation request to perform the tasks -->
<Message MessageFileName="CoordinatedAutomationRequest.xml" SendTime_ms="5000"/>
</Service>
<Service Type="MessageLoggerDataService" FilesPerSubDirectory="10000" LogFileName="testfile">
<LogMessage MessageType="uxas" NumberMessagesToSkip="0"/>
<LogMessage MessageType="afrl" NumberMessagesToSkip="0"/>
Updated Distributed Cooperation Example for use with AMASE
2017-06-07 14:26:31 -04:00
<LogMessage MessageType="eid" NumberMessagesToSkip="0"/>
Project for multi-UAV cooperative decision making
2017-05-07 11:03:58 -04:00
</Service>
</UxAS>
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