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* 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.
Angled Area Search Task
The angled area search task is an area search task with a specified sweep angle.
Files:
cfg_AngledAreaSearchTask.xml- The UxAS configuration file for this example. This configuration file sets up the services and bridges.runUxAS_AngledAreaSearchTask.py- This script runs UxAS with the details in the UxAS configuration filerunAMASE_AngledAreaSearchTask.py- This script runs AMASE with the AMASE configuration file.Scenario_AngledAreaSearchTask.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/AngledAreaSearchTask_100.xml- The angled area search task that will be performed by vehicle 101.MessagesToSend/AreaOfInterest_1.xml- The area of interest that will be searched in the angled area search task.MessagesToSend/AutomationRequest_AngledAreaSearchTask.xml- The automation request for the angled area search task
Running the example:
- Open a terminal window in the directory: "examples/tasks/AngledAreaSearchTask"
- enter the command
python3 runUxAS_AngledAreaSearchTask.pyor./runUxAS_AngledAreaSearchTask.py - open another terminal window in the directory: "examples/tasks/AngledAreaSearchTask"
- enter the command
python3 runAMASE_AngledAreaSearchTask.pyor./runAMASE_AngledAreaSearchTask.py - start the AMASE simulation (i.e. press the play button)
What happens?
- When the AMASE simulation starts, UAV 101 will be initialized and begin flying east.
- After 1.2 seconds the automation request is sent and UxAS begins the mission
- Once the plans have been calculated, UAV 101 will being performing the angled area search task.