mirror of
https://github.com/AdaCore/OpenUxAS.git
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43 lines
2.6 KiB
XML
43 lines
2.6 KiB
XML
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
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<UxAS FormatVersion="1.0" EntityID="100" EntityType="Aircraft">
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<Bridge Type="LmcpObjectNetworkTcpBridge" TcpAddress="tcp://127.0.0.1:5555" Server="FALSE">
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<SubscribeToMessage MessageType="afrl.cmasi.MissionCommand"/>
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<SubscribeToMessage MessageType="afrl.cmasi.LoiterTask"/>
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<SubscribeToMessage MessageType="afrl.cmasi.VehicleActionCommand"/>
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</Bridge>
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<!--- <Bridge Type="LmcpObjectNetworkZeroMqZyreBridge" NetworkDevice="enx281878b8fee2">
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<!-- <SubscribeToExternalMessage MessageType="uxas.messages.task.TaskActive"/> -->
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<!-- <SubscribeToExternalMessage MessageType="uxas.project.pisr.ProjectedTaskActive"/>
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<SubscribeToExternalMessage MessageType="afrl.cmasi.AirVehicleState"/>
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</Bridge>-->
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<Service Type="TaskManagerService"/>
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<Service Type="AutomationRequestValidatorService"/>
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<Service Type="RoutePlannerVisibilityService" TurnRadiusOffset_m="0.0" MinimumWaypointSeparation_m="50.0"/>
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<Service Type="RouteAggregatorService"/>
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<Service Type="AssignmentTreeBranchBoundService" NumberNodesMaximum="0" CostFunction="MINMAX"/>
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<Service Type="AutomationDiagramDataService"/>
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<Service Type="Test_SimulationTime"/>
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<Service Type="PlanBuilderService" AssignmentStartPointLead_m="0.0"/>
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<Service Type="WaypointPlanManagerService" VehicleID="101" NumberWaypointsToServe="512" NumberWaypointsOverlap="5" param.turnType="FlyOver" GimbalPayloadId="10001"/>
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<Service Type="WaypointPlanManagerService" VehicleID="102" NumberWaypointsToServe="512" NumberWaypointsOverlap="5" param.turnType="FlyOver" GimbalPayloadId="10002"/>
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<Service Type="SensorManagerService"/>
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<Service Type="SendMessagesService" PathToMessageFiles="../MessagesToSend/">
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<Message MessageFileName="AirVehicleConfiguration_V101.xml" SendTime_ms="100"/>
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<Message MessageFileName="AirVehicleState_V101.xml" SendTime_ms="100"/>
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<Message MessageFileName="AirVehicleConfiguration_V102.xml" SendTime_ms="200"/>
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<Message MessageFileName="AirVehicleState_V102.xml" SendTime_ms="200"/>
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<Message MessageFileName="AirVehicleConfiguration_V103.xml" SendTime_ms="300"/>
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<Message MessageFileName="AirVehicleState_V103.xml" SendTime_ms="300"/>
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<Message MessageFileName="MultiVehicleWatchTask_100.xml" SendTime_ms="2000"/>
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<Message MessageFileName="AutomationRequest_MultiVehicleWatch.xml" SendTime_ms="4000"/>
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</Service>
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<Service Type="MessageLoggerDataService" LogFileMessageCountLimit="1000" FilesPerSubDirectory="1000">
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<LogMessage MessageType="uxas" NumberMessagesToSkip="0"/>
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<LogMessage MessageType="afrl" NumberMessagesToSkip="0"/>
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</Service>
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</UxAS>
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