ServerHost = localhost
ServerPort = 9011
Community  = red_one

MOOSTimeWarp = 1

LatOrigin  = 42.358436
LongOrigin = -71.087448


//------------------------------------------------------------
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB             @ NewConsole = false
  Run = uProcessWatch      @ NewConsole = false
  Run = pShare             @ NewConsole = false
  Run = pLogger            @ NewConsole = false
  Run = pNodeReporter      @ NewConsole = false
  Run = pMarinePID         @ NewConsole = false
  Run = pHelmIvP           @ NewConsole = false
  Run = pBasicContactMgr   @ NewConsole = false
  Run = pHostInfo          @ NewConsole = false
  Run = uFldNodeBroker     @ NewConsole = false
  Run = pDeadManPost       @ NewConsole = false
  Run = iM200              @ NewConsole = false
  Run = uFldMessageHandler @ NewConsole = false
  Run = pRangeEvent        @ NewConsole = false
  Run = pBotDialog         @ NewConsole = false
  Run = pNodeReportParse   @ NewConsole	= false
}

//--------------------------------------------------------
ProcessConfig = iM200
{
  AppTick        = 10
  CommsTick      = 10

  PORT_NUMBER    = 29500
  IP_ADDRESS     = 192.168.7.1  // Default is 'localhost'
  GPS_PREFIX     = NAV_        // Prepended to GPS position messages.
  DIRECT_THRUST  = false       // Default is false.
                               // When true, vehicle in direct-thrust mode.
                               // When false, vehicle in rudder-thrust mode.

  HEADING_OFFSET = 0.0         // Offset to add to published heading
	
  PUBLISH_RAW    = true        // When true, publish all messages from
                               // front seat to M200_RAW_NMEA
  MAX_RUDDER     = 50.0        // Rudder value will be capped to this, +/-
  MAX_THRUST     =  84.0       // Thrust value to each motor will be
                               // capped to this value, +/-
}


//---------------------------------------------------------
ProcessConfig = pShare
{
  AppTick    = 2
  CommsTick  = 2

  input = route =  localhost:9311
//  input = route =  multicast_7
}


//------------------------------------------
ProcessConfig = pDeadManPost
{
  AppTick   = 4
  CommsTick = 4

  heartbeat_var   = HEARTBEAT
  max_noheart     = 15
  post_policy     = reset
  active_at_start = false
  deadflag        = DEPLOY = false
 }


//--------------------------------------------------
ProcessConfig = pLogger
{
  AppTick     = 10
  CommsTick   = 10

  File    = LOG_RED_ONE
  PATH    = ./
  SyncLog   = true @ 0.2
  AsyncLog   = true
  FileTimeStamp = true

  Log = IVPHELM_LIFE_EVENT @ 0 nosync

  // Log it all!!!!!
  LogAuxSrc = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}


//---------------------------------------
ProcessConfig = pNodeReporter
{
  AppTick     = 2
  CommsTick   = 2

  vessel_type = kayak
  group       = red
  platform_color = red
}


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

  VERBOSE       = true
  DEPTH_CONTROL = false
  ACTIVE_START  = true

  // Yaw PID controller (Set for M300)
  YAW_PID_KP             = 0.35 
  YAW_PID_KD             = 0.07 
  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 // 100
  MAXTHRUST  = 84

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


//---------------------------------------
ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4
  
  //ivp_behavior_dirs = /Users/carterf/src/moos-ivp-colregs/trunk/lib
  Behaviors    = targ_red_one.bhv
  Verbose      = false
  Domain       = course:0:359:360
  Domain       = speed:0:2.5:26
}


//--------------------------------------------------
ProcessConfig = pHostInfo
{
  AppTick     = 1
  CommsTick   = 1

//  DEFAULT_HOSTIP = localhost
}


//--------------------------------------------------
ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

  TRY_SHORE_HOST = pshare_route=192.168.1.150:9300


  BRIDGE = src=VIEW_POLYGON
  BRIDGE = src=VIEW_POINT
  BRIDGE = src=VIEW_SEGLIST
  BRIDGE = src=VIEW_CIRCLE
  BRIDGE = src=AVDCOL_MODE
  BRIDGE = src=FLAG_GRAB_REQUEST
  BRIDGE = src=TAG_REQUEST
  BRIDGE = src=APPCAST
  BRIDGE = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  BRIDGE = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE
}


//--------------------------------------------------
ProcessConfig = uFldMessageHandler
{
  AppTick   = 3
  CommsTick = 3

  STRICT_ADDRESSING = true
}


//--------------------------------------------------------
ProcessConfig = uProcessWatch
{
  AppTick   = 2
  CommsTick = 2

  ALLOW_RETRACTIONS = true

  WATCH_ALL = true // default is true

  NOWATCH = uMAC*
  NOWATCH = uXMS*
  NOWATCH = uPokeDB*

  WATCH         = pNodeReporter
  WATCH         = pMarinePID
  WATCH         = pHelmIvP
  // WATCH         = iM200
  WATCH         = pShare
  SUMMARY_WAIT  = 12
}


//--------------------------------------------------------
ProcessConfig = pBasicContactMgr
{
  AppTick   = 2
  CommsTick = 2

  decay = 30,60
  //decay = 2,5  // Don't really want extrapolation here

  alert_verbose = true

  contact_max_age = 3600
  display_radii   = false

  default_alert_range = 50
  default_cpa_range   = 35
  default_alert_range_color = gray70
  default_cpa_range_color   = gray30


  Alert = id=trail, var=TRAIL_INFO, val="name=$[VNAME] # contact=mokai", alert_range=140
}


//------------------------------------------------------
// uSimMarine Configuration Block  (Created from plugin)

ProcessConfig = uSimMarine
{
  AppTick   = 10
  CommsTick = 10

  START_POS = 50,-24,240
  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
  //thrust_map = -100:-2, 0:0, 20:1, 40:2, 60:3, 80:5, 100:5
}


//------------------------------------------------
// pRangeEvent config block

ProcessConfig = pRangeEvent
{
  AppTick   = 4
  CommsTick = 4

  // Range within which the event is triggered
  min_range = 0 // default
  max_range = 10 // default

  ignore_group = red

  event_var = TAG_REQUEST=vname=$[SELFVNAME]
}


//------------------------------------------------
ProcessConfig = pBotDialog
{
  AppTick   = 4
  CommsTick = 4

}


ProcessConfig = pNodeReportParse
{
  AppTick   = 4
  CommsTick = 4
}