configuration - cpswarm/StageSimulationManager GitHub Wiki

Go to project it.ismb.pert.cpswarm.simulation.stage

• stageManager.bndrun
  it is a run descriptor file stageManager.bndrun which descrips the needed Felix and all dependency bundles to launch the stage manager and with the following -runproperties: instruction inside for configuring the launching environment:

  To set individual System properties with the -D option to pass the command line parameters to override the properties listed in the -runproperties: when running the manager,

  for example:

  java -Dverbosity=0 -jar stageManager.jar

  -runproperties: \
       org.eclipse.jetty.util.log.class=org.eclipse.jetty.util.log.StdErrLog,\
       org.eclipse.jetty.LEVEL=WARN,\                           # Avoid verbose superfluous debug info printed on Stdin.
       logback.configurationFile=resources/logback.xml,\        # Configuration of ch.qos.logback.core bundle
       org.apache.felix.log.storeDebug=false,\          # Configuration of org.apache.felix.log bundle to determine whether or not debug messages will be stored in the history
       org.osgi.service.http.port=8080,\                # The default port used for Felix servlets and resources available via HTTP
       ros.core.native=true,\                      # Indicating if launching the installed ROS system or the rosjava ROScore implementation of the rosjava_core project
       verbosity=2,\                               # Selected verbosity level: 0 NO_OUTPUT, 1 ONLY_FITNESS_SCORE, 2 ALL
       maxNumber.carts=5,\                         # The total number of carts to be scouted, used by fitness function
       fitness.function=fitness.py,\               # The name of the fitness function script
       launch.file=stage_complete.launch,\         # The launch file in the simulation
       ros.master.uri=http://localhost:11311,\     # It is used to manually indicate the Ros environment variable in case the user doesn't set it during the Ros installation
       Manager.config.file.manager.xml=resources/manager.xml,\     # Specify the location of the configuration file of the Gazebo simulation manager
       javax.net.ssl.trustStorePassword=changeit,\
       javax.net.ssl.trustStore=/usr/lib/jvm/java-1.8.0-openjdk-amd64/jre/lib/security/cacerts,\                 # Replace path of the JDK with the user's value in real use case
       org.osgi.framework.trust.repositories=/usr/lib/jvm/java-1.8.0-openjdk-amd64/jre/lib/security/cacerts      # Replace path of the JDK with the user's value in real use case

• resources/manager.xml

  It is a configuration file can be used to change some system parameters used by the Stage simulation manager to communicate with other components in the software.

  Here is the default values, set the values to be used in the real use case

  <settings>
  <uuid>22e6dbf2-ca2f-437f-8397-49daada26042</uuid> <!-- If present, indicates the UUID to be used in the JID (it is useful to have fixed JIDs) -->
  <serverURI>123.123.123.123</serverURI>  <!-- URI of the XMPP server  -->
  <serverName>pippo.pluto.it</serverName>  <!-- name of the XMPP server  -->
  <serverPassword>server</serverPassword>  <!-- Password to be used to connect to the XMPP server -->
  <dataFolder>/home/cpswarm/</dataFolder> <!-- Data folder where to store the data -->
  <dimensions>2</dimensions> <!-- dimensions supported by the wrapped simulator -->
  <maxAgents>8</maxAgents> <!-- max agents supported by the wrapped simulator -->
  <optimizationUser>frevo</optimizationUser> <!-- XMPP user of the optimization tool -->
  <orchestratorUser>orchestrator</orchestratorUser> <!-- XMPP user of the orchestrator -->
  <rosFolder>/home/catkin_ws/src/</rosFolder> <!-- folder of the ROS workspace, it must be the <src> folder -->
  <monitoring>true</monitoring> <!--  indication if the monitoring GUI has to be used or not  -->
  <mqttBroker>tcp://123.123.123.123:1883</mqttBroker> <!--  MQTT broker to be used if the monitoring is set to true  -->
  <timeout>90000</timeout> <!-- Timeout in milliseconds for one simulation -->
  <fake>false</fake> <!-- Indicate if real simulations need to be done or not -->
  </settings>

  Click the Export button in the stageManager.bndrun file -> Selete Export Destination which should be in the same folder with this bndrun file, because the excutable jar has to access to the Resources/Manager.xml configuration file.

  Run the exported jar in it's folder:

  $ java -jar stageManager.jar