// DO NOT MODIFY - hovergroup kayak hardware configuration options

//ServerHost = 192.168.1.103
ServerHost = $(SERVERHOST)
//ServerPort = 9200
ServerPort = $(SERVERPORT)
//Community  = NOSTROMO
Community  = $(VNAME)

#include plug_origin_warp.moos
  
//------------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 200
   
  Run = MOOSDB                 @ NewConsole = false
  Run = pShare                 @ NewConsole = false
  Run = pLogger                @ NewConsole = false
  Run = pMarinePID_Hover       @ NewConsole = false
  Run = iRTKNAVI               @ NewConsole = false
  Run = iGPS_Hover             @ NewConsole = false
  Run = iOS5000_Hover          @ NewConsole = false
  Run = pEchoVar               @ NewConsole = false
  Run = iHoverKayak            @ NewConsole = false
  Run = pNavManager            @ NewConsole = false
  Run = pResourceMon           @ NewConsole = false
  
}

ProcessConfig = iKST
{
    IterateMode = 0    // regular iterate and mail
    AppTick     = 4

    output_path = "/home/josh/kst_NOSTROMO.csv"

    LOG = NAV_X
    LOG = NAV_Y
    LOG = NAV_HEADING
    LOG = NAV_SPEED
    LOG = DESIRED_HEADING
    LOG = DESIRED_SPEED
    LOG = ARDUINO_RUDDER
    LOG = ARDUINO_THRUST
    LOG = COMPASS_ROLL
    LOG = COMPASS_PITCH
    LOG = ALTIMETER_DEPTH
}

ProcessConfig = pShare
{
    IterateMode = 0    // regular iterate and mail
    AppTick     = 4

//points toward the backseat IP and port number
    output = NAV_X->$(BACK_IP):$(BACKSEAT_SHARE_PORT) // 192.168.1.242:9305
    output = NAV_Y->$(BACK_IP):$(BACKSEAT_SHARE_PORT)
    output = NAV_HEADING->$(BACK_IP):$(BACKSEAT_SHARE_PORT)
    output = NAV_SPEED->$(BACK_IP):$(BACKSEAT_SHARE_PORT)
  
    input = route=localhost:$(SHARE_PORT) 
}

ProcessConfig = pLogger
{
    IterateMode = 0    // regular iterate and mail
    AppTick     = 10

//    File            = LOG_NOSTROMO
        File            = LOG_$(VNAME)
//    PATH            = /home/josh/logs/
    AsyncLog        = true
    FileTimeStamp   = true
    WildCardLogging = true

    WildCardOmitPattern = PLOGGER_STATUS, DB_VARSUMMARY
}

ProcessConfig = pMarinePID_Hover
{
    IterateMode = 0    // regular iterate and mail
    AppTick     = 10

    Verbose       = false
    DEPTH_CONTROL = false
    ACTIVE_START  = true
    MAXRUDDER     = 45
    MAXTHRUST     = 100

    // SPEED_FACTOR
    //    - A non-zero SPEED_FACTOR overrides use of SPEED_PID
    //    - Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
    SPEED_FACTOR  = 30
    // 25-30 for no modem
    // 40 with modem

    // Yaw PID controller
    YAW_PID_KP             = 0.40
    YAW_PID_KD             = 0.3
    YAW_PID_KI             = 0.01
    YAW_PID_INTEGRAL_LIMIT = 500
    YAW_PID_TAU            = 1

    // Speed PID controller
    SPEED_PID_KP             = 0.0
    SPEED_PID_KD             = 0.0
    SPEED_PID_KI             = 4
    SPEED_PID_INTEGRAL_LIMIT = 2.5
    
    SPEED_CONTROLLER = fit_pid
    // factor, pid, fit_pid
    
    SPEED_SLOPE = 60.6
    SPEED_OFFSET = -1.21
    ANGLE_LIMIT = 25
    TIME_DELAY = 5
}

ProcessConfig = pEchoVar
{
    IterateMode = 1    // comms driven iterate and mail
    AppTick     = 4    // iterate lower bound
    MaxAppTick  = 0    // no limit

    Echo = MOOS_MANUAL_OVERRIDE -> MOOS_MANUAL_OVERIDE
}

ProcessConfig = iOS5000_Hover
{
    IterateMode = 0    // regular iterate and mail
    AppTick     = 1

//    Port        = /dev/ttyUSB2
    Port        = $(COMPASS_PORT)
    Speed       = 57600
    PreRotation = -15            // -15 for Boston (magnetic declination)

    FilterTimeConstant = 1
}

ProcessConfig = iRTKNAVI
{
    IterateMode = 0    // regular iterate and mail
    AppTick     = 1
    
//    HOST=192.168.1.103
    HOST=localhost
    PORT=50001
}

ProcessConfig = iRemote
{
    IterateMode = 0    // regular iterate and mail
    AppTick     = 5

    CustomKey = 1 : HELM_VERBOSE @ "verbose"
    CustomKey = 2 : HELM_VERBOSE @ "terse"
    CustomKey = 3 : HELM_VERBOSE @ "quiet"
    CustomKey = 4 : DEPLOY @ "true"
    CustomKey = 5 : DEPLOY @ "false"
    CustomKey = 6 : RETURN @ "true"
    CustomKey = 7 : RETURN @ "false"
}

ProcessConfig = iHoverKayak
{
    IterateMode = 1    // comms driven iterate and mail
    AppTick     = 20   // iterate lower bound
    MaxAppTick  = 0    // no limit
   
    INVERT_RUDDER = false
    RUDDER_OFFSET = 0
    PORT_NAME = /dev/ttyO1
}

ProcessConfig = pNavManager
{
    IterateMode = 1    // comms driven iterate and mail
    AppTick     = 4    // iterate lower bound
    MaxAppTick  = 0    // no limit
  
    timeout = 5      // timeout before abandoning a nav source

    source1 = rtk_fix
    source2 = rtk_float
    source3 = gps
    source4 = rtk_single
}

ProcessConfig = iGPS_Hover
{
    IterateMode = 0    // regular iterate and mail
    AppTick     = 20
  
    //PORT_NAME = $(GPSPORT)
    //BAUD_RATE = $(GPSBAUD)
    
    TCP_SERVER = localhost
    TCP_PORT = 50000
    
    USE_TCP = true
}

ProcessConfig = pResourceMon
{
    IterateMode = 0 // regular iterate and mail
    AppTick = 1
}