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afrl-rq / OpenUxAS-SoI

Project for multi-UAV cooperative decision making
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AMASE not updating the routes #63

Open kfu0115 opened 6 years ago

kfu0115 commented 6 years ago

I am curious about how the messaging bus between AMASE and UxAS works. There are some cases AMASE didn't update the routes after UxAS finished its task allocation. The attachment is a scenario of 127 line search tasks with two vehicles. IT takes 2939 seconds to run (without AMASE on, only 300 seconds) but after the allocation is done, no route is created. image

derekkingston commented 6 years ago

UxAS communicates with AMASE using a "TcpBridge" (in the configuration file this is denoted by "LmcpObjectNetworkTcpBridge"). Only serialized LMCP messages are sent between them. For AMASE to UxAS every message sent by AMASE is published to all UxAS services. For UxAS to AMASE, the TcpBridge is configured only to subscribe to a subset of messages which are forwarded to AMASE.

To help you debug this, I recommend that you configure your connection to AMASE as:

<Bridge Type="LmcpObjectNetworkTcpBridge" TcpAddress="tcp://127.0.0.1:5555" Server="FALSE">
        <SubscribeToMessage MessageType="afrl.cmasi.AutomationResponse" />
        <SubscribeToMessage MessageType="afrl.cmasi.LineSearchTask" />
        <SubscribeToMessage MessageType="afrl.cmasi.VehicleActionCommand" />
    </Bridge>

And remove all WaypointPlanManagerService. You can check to see that AMASE has received a message by going to Scenario->Show Scenario Events.

Without AMASE running, have you confirmed that an AutomationResponse message is produced in the saved messages database?