ServerHost = localhost
ServerPort = $(MOOS_PORT)
Simulator  = true

// Community name IS the vehicle name
Community  = $(VNAME)

#include plugs.moos <origin_warp>
  
//--------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 100
   
  Run = MOOSDB           @ NewConsole = false
  Run = uProcessWatch    @ NewConsole = false
  Run = pShare           @ NewConsole = false
  Run = uSimMarine       @ NewConsole = false
  Run = pLogger          @ NewConsole = false
  Run = pNodeReporter    @ NewConsole = false
  Run = pMarinePID       @ NewConsole = false
  Run = pHelmIvP         @ NewConsole = false
  Run = pHostInfo        @ NewConsole = false
  Run = uFldNodeBroker   @ NewConsole = false
  Run = uFldMessageHandler @ NewConsole = false
}

#include plugs.moos <pShare>
#include plugs.moos <pHostInfo>
#include plugs.moos <uProcessWatch>
	
//--------------------------------------------------
// uFldMessageHandler config block

ProcessConfig = uFldMessageHandler
{
  AppTick   = 2
  CommsTick = 2

  strict_addressing = false
}

//--------------------------------------------------
// uFldNodeBroker config block

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

  try_shore_host = pshare_route=localhost:$(SHORE_LISTEN)

  bridge = src=VIEW_POLYGON
  bridge = src=VIEW_CIRCLE
  bridge = src=VIEW_POINT
  bridge = src=VIEW_SEGLIST
  bridge = src=APPCAST
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT

  bridge = src=NODE_MESSAGE_LOCAL,  alias=NODE_MESSAGE
}

//-------------------------------------------------
// pMarinePIDV22 config block

ProcessConfig = pMarinePIDV22
{
  AppTick   = 10
  CommsTick = 10
  
  VERBOSE       = true
  DEPTH_CONTROL = false
  ACTIVE_START  = true
  
  // Yaw PID controller
  YAW_PID_KP             = 1.4
  YAW_PID_KD             = 0.1
  YAW_PID_KI             = 0.0
  YAW_PID_INTEGRAL_LIMIT = 0.07
  
  // Speed PID controller
  SPEED_PID_KP           = 1.0
  SPEED_PID_KD           = 0.0
  SPEED_PID_KI           = 0.0
  SPEED_PID_INTEGRAL_LIMIT = 0.07
  
  // Maximums
  MAXRUDDER  = 100
  MAXTHRUST  = 100
  
  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  SPEED_FACTOR = 20
}

//-------------------------------------------------
// uSimMarineV22 config block

ProcessConfig = uSimMarineV22
{
  AppTick   = 10
  CommsTick = 10

  start_pos = $(START_POS), 180, 0
  prefix    = NAV

	//rotate_speed = 0.012
  //drift_x      = 0.0045

  //thrust_map = -100:-2, 0:0, 20:1, 40:2, 60:3, 80:5, 100:5
}

//------------------------------------------------
// pHelmIvP config block

ProcessConfig = pHelmIvP
{
  AppTick   = 4
  CommsTick = 4
  
  behaviors = targ_$(VNAME).bhv  
  verbose   = false
  domain    = course:0:359:360
  domain    = speed:0:5:26
}

//-------------------------------------------------
// pNodeReporter config block

ProcessConfig = pNodeReporter
{
  AppTick   = 2
  CommsTick = 2
  
  vessel_type = KAYAK
}

//-------------------------------------------------
// pLogger config block

ProcessConfig = pLogger
{
  AppTick 	= 5
  CommsTick	= 5
  
  File		  = LOG_%(VNAME)
  PATH		  = ./
  AsyncLog 	= true
  FileTimeStamp = true

  // Log it all!!!!!
  LogAuxSrc       = true
  WildCardLogging = true 
}