CAMS

h1. Running CAMS (Tutorial)

This tutorial will teach you how to run the CAMS GUI with a simple scenario in simulation mode.

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First of all, *make sure you successfully completed the [[Installation#Developer installation process|Installation (Developer)]] tutorial*. Then, open a terminal and change the current directory to the folder where the core packages are installed.

<pre><code class="shell">

cd /path/to/nephelae_workspace

</code></pre>

h2. Accessing the files for a simulated cloud environment

In order to run CAMS in fully simulated mode first yout need a mesoNH file describing a synthetic atmospheric environment. MesoNH files are databases in "NetCDF _(.nc)_ format":https://en.wikipedia.org/wiki/NetCDF.

The computer @girofle@ at LAAS contains a mesoNH file that can be used with CAMS. You can use the command below to mount the folder the remote folder as a local directory:

<pre><code class="shell">

sshfs girofle.laas.fr:/media/Nephelae-Data/data/Nephelae/ mesonh_girofle_mount/

</code></pre>

The recommended file for this tutorial is:

<pre>

REFHR.1.ARMCu.4D.nc

</pre>

Despite its huge size (~72 GB), the best way to work with this particular file is to download it to your computer. If you are at LAAS connected with an Ethernet cable, you have a high-bandwith and low-lattency link. Therefore you can read the files in the remote folder directly, but beware of errors that can occur if the quality of the connection degrades.

h2. Scenario setup

A valid configuration file is required to run the graphical interface server. Scenario configuration files describe the atmospheric environment and the UAVs so CAMS can use the appropriate algorithms and models to manage them. For this tutorial a simple configuration file is provided describing a scenario built upon a simulated atmosphere with cumulus clouds and two UAVs. 

1. Download the configuration file for this tutorial: !tutorial_simulation_mesonh_2uav.yaml!

There are dedicated tutorial and reference guide wiki pages for scenario configuration, but for an initial run let's use a simple file.

To configure manually: 

<pre>

database/filepath: '/PATH/TO/database01.neph'

mesonh_files:  &mesonh_files '/PATH/TO/REFHR.1.ARMCu.4D.nc'

aircrafts/200/plugins/Missions/backup_file: '/PATH/TO/backup_200.bin'

aircrafts/201/plugins/Missions/backup_file: '/PATH/TO/backup_201.bin'

</pre>

<pre>

---

# local frame must be given in utm coordinates

local_frame:

    east:     &local_frame_east   360284.0

    north:    &local_frame_north 4813595.0

    alt:      &local_frame_alt         0.0

    utm_zone: &local_frame_utm_zone    31N

# flight area in local coordinates

flight_area: &flight_area [[-1000.0, -5000.0, -100.0], [15000.0, 5000.0, 4000.0]]

# allow_warm_start: True

allow_warm_start: False

# database config

database:

    enable_save: False

    filepath: '/home/rbailonr/src/nephelae/nephelae_workdir/database01.neph'

    overwrite_existing: True

mesonh_files:  &mesonh_files '/home/rbailonr/src/nephelae/REFHR.1.ARMCu.4D.nc'

# Setting this to true will activate feedback to WORLD_ENV requests

# Do not pass it to True : NOT WORKING...

wind_feedback: False

# Setting this value forces the mesonh variables to read only this time

mesonh_fixed_time: &mesonh_fixed_time 96

# WindMap is constant => no wind here [0, 0]

wind_map:

    type: 'WindMapConstant'

    name: 'Horizontal Wind'

    wind: [-0.0, 0.0]

# DataViews

data_views:

    # View of liquid water content (data from Mesonh)

    humidity:

        type: 'FetchView'

        name: 'Humidity'

        tags: ['RCT']

        displayable: true

    # View of vertical wind (data from Mesonh)

    verticalWind:

        type: 'FetchView'

        name: 'Vertical Wind'

        tags: ['WT']

        displayable: true

    # View of temperature (data from Mesonh)

    temperature:

        type: 'FetchView'

        name: 'Temperature'

        tags: ['THT']

        displayable: true

    # View of altitude (data from the autopilot / registered data)

    altitude:

        type: 'StatusView'

        name: 'Altitude'

        tags: null

        displayable: true

    # View of time (since the task has started / registered data)

    time:

        type: 'StatusView'

        name: 'Time'

        info: 'time'

        tags: null

        displayable: true

# Play with the mesonh origin if you want to have a cloud near your standby

# position [t, x, y ,z]

mesonh_origin: &mesonh_origin [-460.0, -1400.0, -3000.0, -280.0]

# Default fields. Used to define yaml aliases, to define values in one single place.

defaults:

    start: &start_defaults

        - Length: [3]

        - SimpleBounds: [*flight_area]

    circle_radius:

        - &circle_radius_min  80.0

        - &circle_radius_max 500.0

        - defaults: &circle_radius_defaults

            - DefaultValue: [120.0]

            - SimpleBounds: [[*circle_radius_min, *circle_radius_max]]

    altitude:

        - &altitude_min  185.0

        - &altitude_max 4000.0

        - defaults: &altitude_defaults

            - SimpleBounds: [[-1000.0, 4000.0]]

    drift:

        - &xdrift_min -10.0

        - &xdrift_max  10.0

        - &ydrift_min -10.0

        - &ydrift_max  10.0

        - &zdrift_min  -3.0

        - &zdrift_max   3.0

        - drift: &drift_defaults

            - DefaultValue: [[0.0,0.0,0.0]]

            - Length: [3]

            - SimpleBounds: [[[*xdrift_min, *ydrift_min, *zdrift_min],

                              [*xdrift_max, *ydrift_max, *zdrift_max]]]

        - hdrift: &hdrift_defaults

            - Length: [2]

            - SimpleBounds: [[[*xdrift_min, *ydrift_min],

                              [*xdrift_max, *ydrift_max]]]

        - zdrift: &zdrift_defaults

            - SimpleBounds: [[*zdrift_min, *zdrift_max]]

    lace: &lace_defaults

        parameters:

            start: *start_defaults

            first_turn_direction:

                - DefaultValue:  [1.0]

                - AllowedValues: [[-1.0, 1.0]]

            circle_radius: *circle_radius_defaults

            drift: *drift_defaults

        updatables:

            hdrift: *hdrift_defaults

            zdrift: *zdrift_defaults

    rosette: &rosette_defaults

        parameters:

            start: *start_defaults

            first_turn_direction:

                - DefaultValue:  [1.0]

                - AllowedValues: [[-1.0, 1.0]]

            circle_radius: *circle_radius_defaults

            drift: *drift_defaults

        updatables:

            hdrift: *hdrift_defaults

            zdrift: *zdrift_defaults

    spiral3d: &spiral3d_defaults

        parameters:

            start: *start_defaults

            alt_stop: *altitude_defaults

            radius_start: *circle_radius_defaults

            radius_stop:  *circle_radius_defaults

            drift: *drift_defaults

        updatables:

            hdrift: *hdrift_defaults

            zdrift: *zdrift_defaults

    trinity: &trinity_defaults

        parameters:

            start: *start_defaults

            first_turn_direction:

                - DefaultValue:  [1.0]

                - AllowedValues: [[-1.0, 1.0]]

            circle_radius: *circle_radius_defaults

            drift: *drift_defaults

        updatables:

            hdrift: *hdrift_defaults

            zdrift: *zdrift_defaults

# List of possible UAVS : 200, 201, 202, 203, 204

# Configuration given : 

# - Autopilot : Paparazzi

# - No replay

aircrafts:

    200:

        replay: false

        type: 'pprz'

        plugins:

            - MesonhProbe:

                mesonhFiles: *mesonh_files

                mesonhVariables: ['RCT', 'RRT', 'WT', 'THT', ['UT','VT']]

                rctFeedback: True

                mesonhOrigin: *mesonh_origin

                fixTime: *mesonh_fixed_time

            - Missions:

                backup_file: '/home/rbailonr/src/nephelae/nephelae_workdir/backup_200.bin'

                Lace: *lace_defaults

                Rosette: *rosette_defaults

                Spiral3D: *spiral3d_defaults

                Trinity: *trinity_defaults

            - CloudCenterTracker:

                mapWhereCenterIs: 'LWC'

            - MissionWindUpdater:

                period: 10.0

            - Monitor

    201:

        replay: false

        type: 'pprz'

        plugins:

            - MesonhProbe:

                mesonhFiles: *mesonh_files

                mesonhVariables: ['RCT', 'RRT', 'WT', 'THT', ['UT','VT']]

                rctFeedback: True

                mesonhOrigin: *mesonh_origin

                fixTime: *mesonh_fixed_time

            - Missions:

                backup_file: '/home/rbailonr/src/nephelae/nephelae_workdir/backup_201.bin'

                Lace: *lace_defaults

                Rosette: *rosette_defaults

                Spiral3D: *spiral3d_defaults

                Trinity: *trinity_defaults

            - CloudCenterTracker:

                mapWhereCenterIs: 'LWC'

            - MissionWindUpdater:

                period: 10.0

            - Monitor

maps:

    kernels:

        lwc_kernel:

            type: 'WindKernel'

            length_scales: [120.0, 60.0, 60.0, 60.0]

            variance: 1.0e-8

            noise_variance: 1.0e-10

    LWC:

        name: 'Liquid Water Cyan'

        type: 'GprMap'

        kernel: 'lwc_kernel'

        data_view: 'humidity'

        data_range: [0.0, 1.0e-4]

        threshold: 2.0e-4

        std_map: 'Liquid Water std' # optional

        border_map: 'Liquid Water border' # optional

    clouds:

        name: 'Liquid Water (MesoNH)'

        type: 'MesonhMap'

        mesonh_variable: 'RCT'

        origin: *mesonh_origin

</pre>

h2.