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76 lines
4.1 KiB
XML
76 lines
4.1 KiB
XML
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
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<UxAS EntityID="2000" FormatVersion="1.0" EntityType="Aircraft">
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<!-- NOTE:: "NetworkDevice" must be set equal to an active network interface device, e.g. wlan0 -->
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<!-- on Linux and Mac, type 'ifconfig' to find interface name -->
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<!-- on Windows, type 'ipconfig' to find interface name (name is after adapter type)
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Windows example name: Wireless Network Connection
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-->
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<Bridge Type="LmcpObjectNetworkZeroMqZyreBridge" NetworkDevice="en0">
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<SubscribeToExternalMessage MessageType="afrl.cmasi.AirVehicleState"/>
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<SubscribeToExternalMessage MessageType="uxas.messages.task.AssignmentCoordination"/>
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</Bridge>
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<!-- Connect to AMASE on a single vehicle port (see config folder in OpenAMASE) -->
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<Bridge Type="LmcpObjectNetworkTcpBridge" TcpAddress="tcp://127.0.0.1:9900" Server="FALSE" ConsiderSelfGenerated="TRUE">
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<SubscribeToMessage MessageType="afrl.cmasi.MissionCommand" />
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<SubscribeToMessage MessageType="afrl.cmasi.LineSearchTask" />
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<SubscribeToMessage MessageType="afrl.impact.ImpactLineSearchTask" />
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<SubscribeToMessage MessageType="afrl.impact.AngledAreaSearchTask" />
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<SubscribeToMessage MessageType="afrl.cmasi.AreaSearchTask" />
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<SubscribeToMessage MessageType="afrl.cmasi.VehicleActionCommand" />
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<SubscribeToMessage MessageType="afrl.cmasi.KeepInZone" />
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<SubscribeToMessage MessageType="afrl.cmasi.KeepOutZone" />
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</Bridge>
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<Service Type="Test_SimulationTime"/>
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<Service Type="TaskManagerService"/>
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<Service Type="AutomationRequestValidatorService"/>
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<Service Type="SensorManagerService"/>
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<Service Type="RouteAggregatorService"/>
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<Service Type="RoutePlannerVisibilityService" MinimumWaypointSeparation_m="50"/>
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<Service Type="AssignmentTreeBranchBoundService" NumberNodesMaximum="0" CostFunction="MINMAX" />
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<Service Type="PlanBuilderService"/>
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<Service Type="AutomationDiagramDataService"/>
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<Service Type="WaypointPlanManagerService" VehicleID="2000" NumberWaypointsToServe="1000" NumberWaypointsOverlap="5"
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DefaultLoiterRadius_m="250" param.turnType="FlyOver" AddLoiterToEndOfSegments="FALSE"
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AddLoiterToEndOfMission="FALSE" LoopBackToFirstTask="FALSE" GimbalPayloadId="1" />
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<Service Type="SendMessagesService" PathToMessageFiles="../MessagesToSend/">
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<Message MessageFileName="AirVehicleConfiguration_V1000.xml" SendTime_ms="50"/>
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<Message MessageFileName="AirVehicleConfiguration_V2000.xml" SendTime_ms="60"/>
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<!-- boundaries -->
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<Message MessageFileName="KeepOutZone_10.xml" SendTime_ms="200"/>
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<Message MessageFileName="KeepOutZone_11.xml" SendTime_ms="210"/>
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<Message MessageFileName="OperatingRegion_100.xml" SendTime_ms="240"/>
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<!-- geometry for impact tasks -->
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<Message MessageFileName="AreaOfInterest_100.xml" SendTime_ms="300"/>
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<Message MessageFileName="LineOfInterest_101.xml" SendTime_ms="310"/>
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<!-- the tasks -->
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<Message MessageFileName="AreaSearchTask_50.xml" SendTime_ms="400"/>
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<Message MessageFileName="AngledAreaSearchTask_51.xml" SendTime_ms="410"/>
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<Message MessageFileName="ImpactLineSearchTask_21.xml" SendTime_ms="490"/>
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<Message MessageFileName="LineSearchTask_20.xml" SendTime_ms="500"/>
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<Message MessageFileName="LineSearchTask_30.xml" SendTime_ms="510"/>
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<!-- The assignment coordinator -->
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<Message MessageFileName="AssignmentCoordinatorTask.xml" SendTime_ms="1000"/>
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<!-- <Message MessageFileName="AirVehicleState_V2000.xml" SendTime_ms="2000"/> -->
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<!-- coordniation request to perform the tasks -->
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<Message MessageFileName="CoordinatedAutomationRequest.xml" SendTime_ms="5000"/>
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</Service>
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<Service Type="MessageLoggerDataService" FilesPerSubDirectory="10000" LogFileName="testfile">
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<LogMessage MessageType="uxas" NumberMessagesToSkip="0"/>
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<LogMessage MessageType="afrl" NumberMessagesToSkip="0"/>
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<LogMessage MessageType="eid" NumberMessagesToSkip="0"/>
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</Service>
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</UxAS>
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