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OpenUxAS/examples/00_Template/cfg_Template.xml
lhumphrey 289d28022b example template
2021-04-01 15:38:23 -04:00

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<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<UxAS FormatVersion="1.0" EntityID="100" EntityType="Aircraft">
<!-- Bridge used to send messages to AMASE -->
<Bridge Type="LmcpObjectNetworkTcpBridge" TcpAddress="tcp://127.0.0.1:5555" Server="FALSE">
<!-- Necessary: sending MissionCommand and VehicleActionCommand messages to AMASE allows UxAS
to control vehicles -->
<SubscribeToMessage MessageType="afrl.cmasi.MissionCommand"/>
<SubscribeToMessage MessageType="afrl.cmasi.VehicleActionCommand"/>
<!-- Optional: Sending certain other commands to AMASE does nothing except allow AMASE to draw
visualizations -->
<SubscribeToMessage MessageType="afrl.cmasi.AreaSearchTask"/>
<SubscribeToMessage MessageType="afrl.cmasi.LineSearchTask"/>
<SubscribeToMessage MessageType="afrl.cmasi.PointSearchTask"/>
<SubscribeToMessage MessageType="afrl.cmasi.KeepInZone"/>
<SubscribeToMessage MessageType="afrl.cmasi.KeepOutZone"/>
</Bridge>
<!-- Service that causes UxAS to use timestamps from AMASE to set the time. Causes UxAS to wait
for an AMASE simulation to start running. Recommended when using UxAS with AMASE. -->
<Service Type="Test_SimulationTime"/>
<!-- Necessary services for the standard UxAS configuration -->
<Service Type="WaypointPlanManagerService" VehicleID="3" NumberWaypointsToServe="15"
NumberWaypointsOverlap="5" DefaultLoiterRadius_m="250" param.turnType="FlyOver"
AddLoiterToEndOfSegments="FALSE" AddLoiterToEndOfMission="FALSE"
LoopBackToFirstTask="FALSE" GimbalPayloadId="103"/>
<Service Type="WaypointPlanManagerService" VehicleID="4" NumberWaypointsToServe="15"
NumberWaypointsOverlap="5" DefaultLoiterRadius_m="250" param.turnType="FlyOver"
AddLoiterToEndOfSegments="FALSE" AddLoiterToEndOfMission="FALSE"
LoopBackToFirstTask="FALSE" GimbalPayloadId="104"/>
<Service Type="WaypointPlanManagerService" VehicleID="5" NumberWaypointsToServe="15"
NumberWaypointsOverlap="5" DefaultLoiterRadius_m="250" param.turnType="FlyOver"
AddLoiterToEndOfSegments="FALSE" AddLoiterToEndOfMission="FALSE"
LoopBackToFirstTask="FALSE" GimbalPayloadId="105"/>
<Service Type="WaypointPlanManagerService" VehicleID="6" NumberWaypointsToServe="15"
NumberWaypointsOverlap="5" DefaultLoiterRadius_m="250" param.turnType="FlyOver"
AddLoiterToEndOfSegments="FALSE" AddLoiterToEndOfMission="FALSE"
LoopBackToFirstTask="FALSE" GimbalPayloadId="106"/>
<Service Type="SensorManagerService"/>
<Service Type="TaskManagerService"/>
<Service Type="AutomationRequestValidatorService" MaxResponseTime_ms="10000"/>
<Service Type="RoutePlannerVisibilityService" TurnRadiusOffset_m="0.0"
MinimumWaypointSeparation_m="50.0"/>
<Service Type="RouteAggregatorService"/>
<Service Type="AssignmentTreeBranchBoundService" NumberNodesMaximum="0" CostFunction="MINMAX"/>
<Service Type="PlanBuilderService" AssignmentStartPointLead_m="0.0"/>
<!-- Useful services to log or visualize data from UxAS -->
<Service Type="MessageLoggerDataService" LogFileMessageCountLimit="1000"
FilesPerSubDirectory="1000">
<LogMessage MessageType="uxas" NumberMessagesToSkip="0"/>
<LogMessage MessageType="afrl" NumberMessagesToSkip="0"/>
</Service>
<Service Type="AutomationDiagramDataService"/>
<!-- Service to inject messages into UxAS -->
<Service Type="SendMessagesService" PathToMessageFiles="../MessagesToSend/">
<Message MessageFileName="AirVehicleConfiguration_3.xml" SendTime_ms="200"/>
<Message MessageFileName="AirVehicleConfiguration_4.xml" SendTime_ms="200"/>
<Message MessageFileName="AirVehicleConfiguration_5.xml" SendTime_ms="200"/>
<Message MessageFileName="AirVehicleConfiguration_6.xml" SendTime_ms="200"/>
<Message MessageFileName="AirVehicleState_3.xml" SendTime_ms="250"/>
<Message MessageFileName="AirVehicleState_4.xml" SendTime_ms="250"/>
<Message MessageFileName="AirVehicleState_5.xml" SendTime_ms="250"/>
<Message MessageFileName="AirVehicleState_6.xml" SendTime_ms="250"/>
<Message MessageFileName="KeepInZone_11.xml" SendTime_ms="300"/>
<Message MessageFileName="KeepInZone_12.xml" SendTime_ms="300"/>
<Message MessageFileName="KeepInZone_13.xml" SendTime_ms="300"/>
<Message MessageFileName="KeepOutZone_14.xml" SendTime_ms="300"/>
<Message MessageFileName="KeepOutZone_15.xml" SendTime_ms="300"/>
<Message MessageFileName="KeepOutZone_16.xml" SendTime_ms="300"/>
<Message MessageFileName="OperatingRegion_17.xml" SendTime_ms="350"/>
<Message MessageFileName="AreaSearchTask_21.xml" SendTime_ms="400"/>
<Message MessageFileName="AreaSearchTask_22.xml" SendTime_ms="400"/>
<Message MessageFileName="AreaSearchTask_23.xml" SendTime_ms="400"/>
<Message MessageFileName="LineSearchTask_27.xml" SendTime_ms="400"/>
<Message MessageFileName="LineSearchTask_28.xml" SendTime_ms="400"/>
<Message MessageFileName="PointSearchTask_31.xml" SendTime_ms="400"/>
<Message MessageFileName="PointSearchTask_32.xml" SendTime_ms="400"/>
<Message MessageFileName="AutomationRequest_a.xml" SendTime_ms="5000"/>
<Message MessageFileName="AutomationRequest_b.xml" SendTime_ms="10000"/>
</Service>
<!-- Service to send messages to other programs using TCP on port 9999 -->
<!-- <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> -->
<!-- Service to send messages from ZeroMQ bus to an external program. Note: 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>
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