skills/moos-ivp-eval-mission-builder/assets/eval-single-vehicle/meta_shoreside.moos

//-------------------------------------------------
// FILE: meta_shoreside.moos
// NAME: MOOS-IvP Skills
//-------------------------------------------------

ServerHost = localhost
ServerPort = $(MOOS_PORT)
Community  = shoreside

#include plug_origin_warp.moos

//----------------------------------------------------
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB          @ NewConsole = false
  Run = pRealm          @ NewConsole = false
  Run = uProcessWatch   @ NewConsole = false
  Run = uLoadWatch      @ NewConsole = false
  Run = pShare          @ NewConsole = false
  Run = pHostInfo       @ NewConsole = false
  Run = pLogger         @ NewConsole = false
  Run = uFldShoreBroker @ NewConsole = false
  Run = uFldNodeComms   @ NewConsole = false
  Run = pMissionEval    @ NewConsole = false
  Run = pAutoPoke       @ NewConsole = false
#ifdef LAUNCH_GUI no
  Run = pMissionHash    @ NewConsole = false
#endif
#ifdef LAUNCH_GUI yes
  Run = pMarineViewer   @ NewConsole = false
#endif
}

//----------------------------------------------------
ProcessConfig = pShare
{
  AppTick   = 4
  CommsTick = 4

  input = route = localhost:$(PSHARE_PORT)
}

//----------------------------------------------------
ProcessConfig = pRealm
{
  AppTick   = 4
  CommsTick = 4

  relcast_interval = 0.8
  summary_interval = 2.0
}

//----------------------------------------------------
ProcessConfig = uProcessWatch
{
  AppTick   = 1
  CommsTick = 1

  allow_retractions = true
  watch_all = true
  nowatch = uMAC*
  nowatch = uXMS*
  nowatch = uPokeDB*
  nowatch = uQueryDB*
  summary_wait = 12
}

//----------------------------------------------------
ProcessConfig = uLoadWatch
{
  AppTick   = 1
  CommsTick = 1

  thresh = app=pMarineViewer, gapthresh=5
  thresh = app=uFldNodeComms, gapthresh=4
  thresh = app=pHostInfo,     gapthresh=5
  thresh = app=any,           gapthresh=2.0

  breach_trigger = 5
}

//----------------------------------------------------
ProcessConfig = pHostInfo
{
  AppTick   = 1
  CommsTick = 1

  default_hostip_force = $(IP_ADDR=localhost)
}

//----------------------------------------------------
ProcessConfig = pAutoPoke
{
  AppTick   = 2
  CommsTick = 2

  flag = DEPLOY_ALL=true
  flag = MOOS_MANUAL_OVERRIDE_ALL=false
  flag = WPT_DONE=false
  flag = WPT_HIT=false
  flag = CYCLE_HIT=false
  flag = WAYPOINT_END=false
  flag = BHV_ERROR_SEEN=false
  flag = WPT_INDEX=-1
  flag = CYCLE_INDEX=0
  flag = WPT_DIST_TO_NEXT=-1

  required_nodes = 1
}

//----------------------------------------------------
ProcessConfig = pMissionEval
{
  AppTick   = 4
  CommsTick = 4

  mailflag = @BHV_ERROR#BHV_ERROR_SEEN=true

  lead_condition = WPT_DONE = true
  pass_condition = WPT_HIT = true
  pass_condition = CYCLE_HIT = true
  pass_condition = WAYPOINT_END = true
  pass_condition = BHV_ERROR_SEEN = false

  result_flag = MISSION_EVALUATED = true
  pass_flag   = SAY_MOOS = pass
  fail_flag   = SAY_MOOS = fail

  mission_form = eval_single_vehicle

  report_file   = results.txt
  report_column = grade=$[GRADE]
  report_column = form=$[MISSION_FORM]
  report_column = eval=$[WPT_DONE]
  report_column = wpt_done=$[WPT_DONE]
  report_column = wpt_hit=$[WPT_HIT]
  report_column = cycle_hit=$[CYCLE_HIT]
  report_column = waypoint_end=$[WAYPOINT_END]
  report_column = wpt_index=$[WPT_INDEX]
  report_column = cycle_index=$[CYCLE_INDEX]
  report_column = wpt_dist=$[WPT_DIST_TO_NEXT]
  report_column = bhv_error=$[BHV_ERROR_SEEN]
  report_column = mhash=$[MHASH_SHORT]
}

//----------------------------------------------------
ProcessConfig = pLogger
{
  AppTick       = 5
  CommsTick     = 5
  File          = XLOG_SHORESIDE
  PATH          = ./
  AsyncLog      = true
  FileTimeStamp = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}

//----------------------------------------------------
ProcessConfig = uFldShoreBroker
{
  AppTick   = 1
  CommsTick = 1

  auto_bridge_appcast = true

  qbridge = DEPLOY
  qbridge = MOOS_MANUAL_OVERRIDE
  qbridge = NODE_REPORT, NODE_MESSAGE
  qbridge = WPT_DONE, WPT_HIT, CYCLE_HIT
  qbridge = WAYPOINT_END, BHV_ERROR
  qbridge = WPT_STAT, WPT_INDEX, CYCLE_INDEX, WPT_DIST_TO_NEXT
}

//----------------------------------------------------
ProcessConfig = uFldNodeComms
{
  AppTick   = 2
  CommsTick = 2

  comms_range      = 500
  critical_range   = 25
  min_msg_interval = 15
  max_msg_length   = 1000
  groups           = true

  view_node_rpt_pulses = false
}

//----------------------------------------------------
ProcessConfig = pMarineViewer
{
  AppTick   = 4
  CommsTick = 4

  tiff_file            = MIT_SP.tif
  set_pan_x            = 5
  set_pan_y            = -115
  zoom                 = 1.5
  vehicles_shape_scale = 1.5
  vehicles_name_mode   = names

  appcast_viewable     = true
  appcast_height       = 75
  appcast_width        = 30
  appcast_color_scheme = indigo
  appcast_font_size    = large
  procs_font_size      = large
  nodes_font_size      = large

  stale_report_thresh = 10
  stale_remove_thresh = 18

  scope = DEPLOY_ALL
  scope = PROC_WATCH_SUMMARY
  scope = PROC_WATCH_ALL_OK
  scope = ULW_BREACH
  scope = ULW_NEAR_BREACH
  scope = WPT_DONE
  scope = WPT_HIT
  scope = CYCLE_HIT
  scope = WAYPOINT_END
  scope = MISSION_EVALUATED

  button_1 = DEPLOY # DEPLOY_ALL=true
  button_1 = MOOS_MANUAL_OVERRIDE_ALL=false

  button_2 = ALLSTOP # DEPLOY_ALL=false
  button_2 = MOOS_MANUAL_OVERRIDE_ALL=true
}