Merge branch 'master' into feature/vsim-stream-speed

LSTS · Jul 25, 2019 · 8a71b99 · 8a71b99
2 parents 3dd2b98 + d01a87e
commit 8a71b99
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -96,6 +96,7 @@ dune_option(OPENCV "Enable support for OpenCV")
 dune_option(NO_RTTI "Disable support for RTTI")
 dune_option(UEYE "Enable support for IDS uEye cameras")
 dune_option(H5CPP "Enable support for hdf5 format i/o using the h5cpp library")
+dune_option(ELLIPSOIDAL "Enable ellipsoidal coordinates in (WGS84) displace")
 
 # Internationalization.
 include(${PROJECT_SOURCE_DIR}/cmake/I18N.cmake)
@@ -237,6 +238,11 @@ endif(DUNE_SHARED)
 
 add_dependencies(dune-core dune-version)
 
+# WGS84 Coordinate Type
+if(ELLIPSOIDAL)
+  add_definitions(-DDUNE_ELLIPSOIDAL_DISPLACE)
+endif(ELLIPSOIDAL)
+
 ##########################################################################
 #                          Tasks                                         #
 ##########################################################################

diff --git a/etc/auv/simulator.ini b/etc/auv/simulator.ini
@@ -37,6 +37,7 @@
 Enabled                                    = Simulation
 Execution Frequency                        = 100
 Entity Label                               = Simulation Engine
+Time Multiplier                            = 1.0
 
 [Simulators.GPS]
 Enabled                                    = Simulation
@@ -155,11 +156,12 @@ Value at peak                               = 1522
 Value away from peak                        = 1500
 Invalid at Surface                          = true
 
-[Simulators.StreamSpeed]
-Entity Label                               = Stream Speed Producer
-Enabled                                    = Simulation
-Default Speed North                        = 0.0
-Default Speed East                         = 0.0
-Default Speed Down                         = 0.0
-Stream Velocity Source                     = Constant
-Execution Frequency                        = 1
+[Simulators.StreamVelocity]
+Enabled                                     = Never
+Entity Label                                = Stream Velocity Simulator
+Default Speed North                         = 0.0
+Default Speed East                          = 0.0
+Default Speed Down                          = 0.0
+Stream Velocity Source                      = Constant
+# Stream Velocity Source                      = Gridded 2D Model Data
+Execution Frequency                         = 1
diff --git a/etc/development/np2-fast.ini b/etc/development/np2-fast.ini
@@ -0,0 +1,36 @@
+############################################################################
+# Copyright 2007-2016 Universidade do Porto - Faculdade de Engenharia      #
+# Laboratório de Sistemas e Tecnologia Subaquática (LSTS)                  #
+############################################################################
+# This file is part of DUNE: Unified Navigation Environment.               #
+#                                                                          #
+# Commercial Licence Usage                                                 #
+# Licencees holding valid commercial DUNE licences may use this file in    #
+# accordance with the commercial licence agreement provided with the       #
+# Software or, alternatively, in accordance with the terms contained in a  #
+# written agreement between you and Universidade do Porto. For licensing   #
+# terms, conditions, and further information contact [email protected].        #
+#                                                                          #
+# European Union Public Licence - EUPL v.1.1 Usage                         #
+# Alternatively, this file may be used under the terms of the EUPL,        #
+# Version 1.1 only (the "Licence"), appearing in the file LICENCE.md       #
+# included in the packaging of this file. You may not use this work        #
+# except in compliance with the Licence. Unless required by applicable     #
+# law or agreed to in writing, software distributed under the Licence is   #
+# distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF     #
+# ANY KIND, either express or implied. See the Licence for the specific    #
+# language governing permissions and limitations at                        #
+# http://ec.europa.eu/idabc/eupl.html.                                     #
+############################################################################
+# Author: Jose Pinto                                                       #
+############################################################################
+# LAUV Noptilus-2 25x faster than real time.                               #
+############################################################################
+
+[Require ../lauv-noptilus-2.ini]
+
+[Simulators.VSIM]
+Time Multiplier                                   = 25
+
+[Monitors.Entities]
+Default Monitoring                                = 
diff --git a/etc/development/xp1-soi.ini b/etc/development/xp1-soi.ini
@@ -40,8 +40,8 @@ Stream Speed East           = 0.1
 [Simulators.Iridium]
 Enabled                     = Simulation
 Entity Label                = Iridium Simulator
-Server Address              = ripples-web.appspot.com
-Server Port                 = 80
+Server Address              = localhost
+Server Port                 = 9090
 Debug Level                 = Debug
 
 [Transports.UDP]

diff --git a/etc/development/xp1-trex.ini b/etc/development/xp1-trex.ini
@@ -0,0 +1,53 @@
+############################################################################
+# Copyright 2007-2019 Universidade do Porto - Faculdade de Engenharia      #
+# Laboratório de Sistemas e Tecnologia Subaquática (LSTS)                  #
+############################################################################
+# This file is part of DUNE: Unified Navigation Environment.               #
+#                                                                          #
+# Commercial Licence Usage                                                 #
+# Licencees holding valid commercial DUNE licences may use this file in    #
+# accordance with the commercial licence agreement provided with the       #
+# Software or, alternatively, in accordance with the terms contained in a  #
+# written agreement between you and Faculdade de Engenharia da             #
+# Universidade do Porto. For licensing terms, conditions, and further      #
+# information contact [email protected].                                       #
+#                                                                          #
+# Modified European Union Public Licence - EUPL v.1.1 Usage                #
+# Alternatively, this file may be used under the terms of the Modified     #
+# EUPL, Version 1.1 only (the "Licence"), appearing in the file LICENCE.md #
+# included in the packaging of this file. You may not use this work        #
+# except in compliance with the Licence. Unless required by applicable     #
+# law or agreed to in writing, software distributed under the Licence is   #
+# distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF     #
+# ANY KIND, either express or implied. See the Licence for the specific    #
+# language governing permissions and limitations at                        #
+# https://github.com/LSTS/dune/blob/master/LICENCE.md and                  #
+# http://ec.europa.eu/idabc/eupl.html.                                     #
+############################################################################
+# Author: Jose Pinto                                                       #
+############################################################################
+# LAUV Xplore 1 simulation with T-REX support                              #
+############################################################################
+
+[Require ../lauv-xplore-1.ini]
+
+[Require ../common/trex.ini]
+
+[Simulators.VSIM]
+Stream Speed North          = -0.3
+Stream Speed East           = 0.1
+
+[Simulators.Iridium]
+Enabled                     = Simulation
+Entity Label                = Iridium Simulator
+Server Address              = ripples-web.appspot.com
+Server Port                 = 80
+Debug Level                 = Debug
+
+[Transports.UDP]
+Underwater Communications   = false
+Always Transmitted Messages = SimulatedState
+
+[Autonomy.TREX]
+TREX ID                     = 65001
+Debug Level                 = Debug
diff --git a/etc/development/xp2-soi.ini b/etc/development/xp2-soi.ini
@@ -40,8 +40,8 @@ Stream Speed East           = 0.1
 [Simulators.Iridium]
 Enabled                     = Simulation
 Entity Label                = Iridium Simulator
-Server Address              = ripples-web.appspot.com
-Server Port                 = 80
+Server Address              = localhost
+Server Port                 = 9090
 Debug Level                 = Debug
 
 [Transports.TCP.Server/BackSeat]

diff --git a/etc/development/xp2-trex.ini b/etc/development/xp2-trex.ini
@@ -0,0 +1,53 @@
+############################################################################
+# Copyright 2007-2019 Universidade do Porto - Faculdade de Engenharia      #
+# Laboratório de Sistemas e Tecnologia Subaquática (LSTS)                  #
+############################################################################
+# This file is part of DUNE: Unified Navigation Environment.               #
+#                                                                          #
+# Commercial Licence Usage                                                 #
+# Licencees holding valid commercial DUNE licences may use this file in    #
+# accordance with the commercial licence agreement provided with the       #
+# Software or, alternatively, in accordance with the terms contained in a  #
+# written agreement between you and Faculdade de Engenharia da             #
+# Universidade do Porto. For licensing terms, conditions, and further      #
+# information contact [email protected].                                       #
+#                                                                          #
+# Modified European Union Public Licence - EUPL v.1.1 Usage                #
+# Alternatively, this file may be used under the terms of the Modified     #
+# EUPL, Version 1.1 only (the "Licence"), appearing in the file LICENCE.md #
+# included in the packaging of this file. You may not use this work        #
+# except in compliance with the Licence. Unless required by applicable     #
+# law or agreed to in writing, software distributed under the Licence is   #
+# distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF     #
+# ANY KIND, either express or implied. See the Licence for the specific    #
+# language governing permissions and limitations at                        #
+# https://github.com/LSTS/dune/blob/master/LICENCE.md and                  #
+# http://ec.europa.eu/idabc/eupl.html.                                     #
+############################################################################
+# Author: Jose Pinto                                                       #
+############################################################################
+# LAUV Xplore 2 simulation with T-REX support                              #
+############################################################################
+
+[Require ../lauv-xplore-2.ini]
+
+[Require ../common/trex.ini]
+
+[Simulators.VSIM]
+Stream Speed North          = -0.3
+Stream Speed East           = 0.1
+
+[Simulators.Iridium]
+Enabled                     = Simulation
+Entity Label                = Iridium Simulator
+Server Address              = ripples-web.appspot.com
+Server Port                 = 80
+Debug Level                 = Debug
+
+[Transports.UDP]
+Underwater Communications   = false
+Always Transmitted Messages = SimulatedState
+
+[Autonomy.TREX]
+TREX ID                     = 65002
+Debug Level                 = Debug
diff --git a/etc/lauv-xplore-2.ini b/etc/lauv-xplore-2.ini
@@ -1,5 +1,5 @@
 ############################################################################
-# Copyright 2007-2019 Universidade do Porto - Faculdade de Engenharia      #
+# Copyright 2007-2017 Universidade do Porto - Faculdade de Engenharia      #
 # Laboratório de Sistemas e Tecnologia Subaquática (LSTS)                  #
 ############################################################################
 # This file is part of DUNE: Unified Navigation Environment.               #
@@ -32,6 +32,7 @@
 [Require auv/basic.ini]
 [Require hardware/lctr-a6xx/basic.ini]
 [Require hardware/lctr-a6xx/broom-36v.ini]
+[Require hardware/lctr-a6xx/batman.ini]
 [Require hardware/lctr-a6xx/gps-lc2m.ini]
 [Require hardware/lctr-a6xx/gsm-lc2m.ini]
 [Require hardware/lctr-a6xx/iridiumsbd-lc2m.ini]
@@ -114,8 +115,8 @@ Default Monitoring -- Hardware          = AHRS,
 
 [Monitors.FuelLevel]
 Capacity Decay Factor                   = 6.0
-Voltage Error Level                     = 24.5
-Voltage Threshold Error Level           = 0.5
+Warning Level                           = 20
+Error Level                             = 15
 
 # to be corrected
 [Navigation.AUV.Navigation]
@@ -132,14 +133,23 @@ ADC0 - Entity Label                     = Chlorophyll Probe Voltage
 [Sensors.Microstrain3DMGX3]
 #APDL
 #Hard-Iron Calibration                   = 0.010155, 0.024699, 0.0
-#Sesimbra
+#Sesimbra 
 Hard-Iron Calibration                    = 0.005450, 0.013942, 0.0
 
 [Simulators.Environment]
 Simulate - Bottom Distance              = false
 Simulate - Forward Distance             = false
 
+[Power.BATMANv2]
+Serial Port - Device                    = /dev/uart/9
+Scale Factor A/Ah                       = 2.5
+Warning Level                           = 20
+Error Level                             = 15
+
 [Power.PCTLv2]
+Leak 0 - Entity Label                   = Medium Sensor                                                                                             
+Leak 0 - Medium Sensor                  = true                                                                                                      
+Leak 1 - Entity Label                   = Leak Sensor 
 ADC Reference Voltage                   = 1.083
 Power Channel 3 - Name                  = SADC
 Power Channel 3 - State                 = 1
@@ -151,8 +161,8 @@ Power Channel 11 - Name                 = Auxiliary CPU
 Power Channel 11 - State                = 1
 Power Channel 12 - Name                 = Wet Sensor Probe
 Power Channel 12 - State                = 0
-Power Channel 15 - Name                 = N/C (+12V_2)
-Power Channel 15 - State                = 0
+Power Channel 15 - Name                 = BATMAN
+Power Channel 15 - State                = 1
 Power Channel 17 - Name                 = N/C (DVL)
 Power Channel 17 - State                = 0
 
@@ -161,8 +171,7 @@ Enabled                                 = Hardware
 Entity Label                            = Logger (Digest)
 Sample Interval                         = 1
 Flush Interval                          = 5
-Transports                              = EntityInfo,
-                                          EstimatedState,
+Transports                              = EstimatedState,
                                           Temperature,
                                           Salinity,
                                           Conductivity,

diff --git a/etc/testing/replays/assist.ini b/etc/testing/replays/assist.ini
@@ -42,6 +42,7 @@ Vehicle                                 = lauv-noptilus-1
 [Transports.Replay]
 Enabled         = Always
 Entity Label    = Replay
+Time Multiplier = 1.0
 
 # NOTE: Add entity names that replay should consider/report on if necessary
 Entities        = Batteries, Power Supply

diff --git a/etc/testing/replays/btrack-replay.ini b/etc/testing/replays/btrack-replay.ini
@@ -87,6 +87,7 @@ Log PID Parcels                         = true
 [Transports.Replay]
 Enabled         = Always
 Entity Label    = Replay
+Time Multiplier = 1.0
 
 # NOTE: Add entity names that replay should consider/report on if necessary
 Entities = Echo Sounder

diff --git a/etc/testing/replays/control-replay.ini b/etc/testing/replays/control-replay.ini
@@ -92,6 +92,7 @@ Maximum Increase                        = 50
 [Transports.Replay]
 Enabled         = Always
 Entity Label    = Replay
+Time Multiplier = 1.0
 
 # NOTE: Add entity names that replay should consider/report on if necessary
 Entities        = SCRT

diff --git a/etc/testing/replays/fuel-replay.ini b/etc/testing/replays/fuel-replay.ini
@@ -42,6 +42,7 @@ Vehicle                                 = lauv-seacon-2
 [Transports.Replay]
 Enabled         = Always
 Entity Label    = Replay
+Time Multiplier = 1.0
 
 # NOTE: Add entity names that replay should consider/report on if necessary
 Entities        = Batteries, Power Supply

diff --git a/etc/testing/replays/monitors-entities-replay.ini b/etc/testing/replays/monitors-entities-replay.ini
@@ -41,6 +41,7 @@ Vehicle                                 = lauv-seacon-1
 [Transports.Replay]
 Enabled         = Always
 Entity Label    = Replay
+Time Multiplier = 1.0
 
 # NOTE: Add entity names that replay should consider/report on if necessary
 Entities        = DVL

diff --git a/etc/testing/replays/servomonitor-replay.ini b/etc/testing/replays/servomonitor-replay.ini
@@ -67,6 +67,7 @@ Entity Label - Current 3                = Servo Controller 3
 [Transports.Replay]
 Enabled         = Always
 Entity Label    = Replay
+Time Multiplier = 1.0
 
 # NOTE: Add entity names that replay should consider/report on if necessary
 Entities        = Allocator,

diff --git a/etc/testing/replays/sgnav-replay.ini b/etc/testing/replays/sgnav-replay.ini
@@ -47,6 +47,7 @@ Distance Between GPS and CG             = 0.25
 [Transports.Replay]
 Enabled         = Always
 Entity Label    = Replay
+Time Multiplier = 1.0
 # NOTE: Add entity names that replay should consider
 Entities        = Depth Sensor,
                   AHRS,