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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.
Cordon Task
A task for using multiple ground vehicles to block access to an area. Given a point to secure and a standoff distance, task identifies number (K) routes that must be blocked to successfully deny access to the area.
Files:
cfg_CordonTask.xml- The UxAS configuration file for this example. This configuration file sets up the services and bridges.runUxAS_CordonTask.py- This script runs UxAS with the details in the UxAS configuration fileMessagesToSend/- Contains the messages send by UxAS with the send messages service.MessagesToSend/GroundVehicleConfiguration_13.xml- Details for ground vehicle 13.MessagesToSend/GroundVehicleState_13.xml- Ground vehicle 13's initial state.MessagesToSend/GroundVehicleConfiguration_14.xml- Details for ground vehicle 14.MessagesToSend/GroundVehicleState_14.xml- Ground vehicle 14's initial state.MessagesToSend/GroundVehicleConfiguration_15.xml- Details for ground vehicle 15.MessagesToSend/GroundVehicleState_15.xml- Ground vehicle 15's initial state.MessagesToSend/GroundVehicleConfiguration_16.xml- Details for ground vehicle 16.MessagesToSend/GroundVehicleState_16.xml- Ground vehicle 16's initial state.MessagesToSend/CordonTask_100.xml- The Cordon task.MessagesToSend/AutomationRequest_CordonTask.xml- The automation request for the Cordon task.MessagesToSend/Pensacola_Map.xml- The details of Pensacola.
Running the example:
- Open a terminal window in the directory: "examples/tasks/CordonTask"
- enter the command
python3 runUxAS_CordonTask.pyor./runUxAS_CordonTask.py - start the AMASE simulation (i.e. press the play button)