ServerHost = localhost
ServerPort = $(MOOS_PORT)
Community  = $(VNAME)

#include plug_origin_warp.moos
  
//------------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 50
   
  Run = MOOSDB             @ NewConsole = false
  Run = uSimMarine         @ NewConsole = false
  Run = pMarinePID         @ NewConsole = false
  Run = pLogger            @ NewConsole = false
  Run = pNodeReporter      @ NewConsole = false

  Run = pHelmIvP           @ NewConsole = false
  Run = uProcessWatch      @ NewConsole = false
  Run = pContactMgrV20     @ NewConsole = false
  Run = pShare             @ NewConsole = false
  Run = pHostInfo          @ NewConsole = false

  Run = uFldNodeBroker     @ NewConsole = false
  Run = uFldMessageHandler @ NewConsole = false
  Run = uTimerScript       @ NewConsole = false
  Run = pRealm             @ NewConsole = false
  Run = pGenRescue         @ NewConsole = false
}
  
#include plug_pShare.moos
#include plug_pHostInfo.moos
#include plug_pHelmIvP.moos
#include plug_pLogger.moos
#include plug_uProcessWatch.moos

//------------------------------------------
// pGenRescue config block

ProcessConfig = pGenRescue
{
  AppTick   = 4
  CommsTick = 4

	app_logging = log
	
	vname = $(VNAME)	
}

//------------------------------------------
// uTimerScript config block

ProcessConfig = uTimerScript
{
  AppTick   = 4
  CommsTick = 4

  reset_max  = unlimited
	reset_time = end
  event      = var=RESCUE_REQUEST, val=vname=$(VNAME), time=1
}

//------------------------------------------
// pRealm config block

ProcessConfig = pRealm
{
  AppTick   = 4
  CommsTick = 4

	hist_var = MOB_ALERT
	hist_var = FOUND_SWIMMER
	scope_set = name=msgs, vars=MOB_ALERT:FOUND_SWIMMER
}

//--------------------------------------------------
// uFldMessageHandler config block

ProcessConfig = uFldMessageHandler
{
  AppTick   = 3
  CommsTick = 3

  strict_addressing = false
}

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

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

  try_shore_host = pshare_route=$(SHORE_IP):$(SHORE_PSHARE)

  bridge = src=COLREGS_AVOID_MODE
  bridge = src=AVDCOL_MODE
  bridge = src=VIEW_POLYGON
  bridge = src=VIEW_POINT
  bridge = src=VIEW_SEGLIST
  bridge = src=APPCAST
  bridge = src=BCM_DETECTION_DIST
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE
	bridge = src=VIEW_COMMS_PULSE

	bridge = src=RESCUE_REQUEST
}

//--------------------------------------------------------
// pContactMgrV20 config block

ProcessConfig = pContactMgrV20
{
  AppTick   = 2
  CommsTick = 2

  decay = 30,60

  alert_verbose = true

	post_all_ranges = true
	
  contact_max_age = 35
	display_radii_id = avd
  display_radii = false
  alert_range_color = gray70
  cpa_range_color   = gray30
}


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

ProcessConfig = pNodeReporter
{
  AppTick     = 6
  CommsTick   = 6
  
  platform_type = KAYAK

#ifdef ORDER normal
	platform_color = dodgerblue
#endif

#ifdef ORDER reversed
	platform_color = yellow
#endif

}


//------------------------------------------------------
// uSimMarine Config Block

ProcessConfig = uSimMarine
{
  AppTick   = 10
  CommsTick = 10

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

//---------------------------------------
// pMarinePID Config Block
	
ProcessConfig = pMarinePID
{
  AppTick    = 10
  CommsTick  = 10

  verbose       = true
  depth_control = false
  active_start  = true

  // Yaw PID controller (Set for M300)
  yaw_pid_kp             = 0.9 
  yaw_pid_kd             = 0.3 
  yaw_pid_ki             = 0.3  
  yaw_pid_integral_limit = 0.3 

  // 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 // 100
  maxthrust  = 100

  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  //SPEED_FACTOR = 20
}