XML

MARS uses JAXB to store the configuration of the environment and AUVs. Below you can see the base structure of the hanse AUV. It consist of 4 parts. Parameters, Sensors, Actuators, Accumulators. Besides the auv config files, every SimObject has its own xml config file. Additionally there exists a MARSSettings and PhysicalEnvironment xml. The xml files are stored in the MARSCore.config package.

<hanse>
    <Parameters>
        <params>
            <entry xsi:type="myHashMapEntryTypeVector3F" key="position">
                <value>
                    <x>0.2</x>
                    <y>-0.25</y>
                    <z>0.0</z>
                </value>
            </entry>
	  ...
        </params>
    </Parameters>
    <Sensors>
        <entry xsi:type="myHashMapEntryTypeSensors" key="pressure/depth">
            <value xsi:type="pressureSensor">
                <noise>
                    ...
                </noise>
                <variables>
                    <entry xsi:type="myHashMapEntryTypeVector3F" key="Position">
                        <value>
                            <x>-0.12</x>
                            <y>0.19</y>
                            <z>-0.31</z>
                        </value>
                    </entry>
                    ...
                </variables>
            </value>
        </entry>
    </Sensors>
    <Actuators>
        <entry xsi:type="myHashMapEntryTypeActuators" key="motors/downFront">
            <value xsi:type="seaBotixThruster">
                <noise>
		...
                </noise>
                <variables>
                    <entry xsi:type="myHashMapEntryTypeObject" key="enabled">
                        <value xsi:type="xs:boolean">true</value>
                    </entry>
	          ...
                </variables>
                <Actions>
 		...
                </Actions>
            </value>
        </entry>
    </Actuators>
    <Accumulators>
	...
    </Accumulators>
</hanse>