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

#include plug_origin_warp.moos

ProcessConfig = ANTLER
{
  MSBetweenLaunches = 50
  Run = MOOSDB        @ NewConsole = false
  Run = pLogger       @ NewConsole = false
  Run = pNodeReporter @ NewConsole = false
  Run = uSimMarine    @ NewConsole = false

  Run = uProcessWatch     @ NewConsole = false
  Run = pShare             @ NewConsole = false



//  Run = pMarinePID        @ NewConsole = false

  Run = pBasicContactMgr  @ NewConsole = false
  Run = pHostInfo          @ NewConsole = false
  Run = uFldNodeBroker     @ NewConsole = false
  Run = uTimerScript    @ NewConsole = false ~UTS_Jackal_timer

  Run = uFldMessageHandler @ NewConsole = false

  Run = iJoystick     @ NewConsole = false
  Run = pMapValues    @ NewConsole = false

  Run = iSay @ NewConsole = false
  Run = uSpeechRec @ NewConsole = false
  Run = uDialogManager @ NewConsole = false
}

ProcessConfig = iJoystick
{
  AppTick       = 20
  CommsTick     = 20
  Output_Prefix = JOY$(JOY_ID)
  Dependent     = 0,1
  ID_BY_BUTTON  = $(BUTTON)
}


ProcessConfig = pMapValues
{
  AppTick       = 10
  CommsTick     = 10
  RANGE = in_msg=JOY$(JOY_ID)_AXIS_0, in_min=-32768, in_max=32767, dead=10, sat=40, out_msg=DESIRED_RUDDER, out_min=-40, out_max=40
  RANGE = in_msg=JOY$(JOY_ID)_AXIS_5, in_min=-32768, in_max=32767, dead=10, sat=40, norm_min=-1.0, norm_max=0, out_msg=DESIRED_THRUST, out_min=10, out_max=100
  //SWITCH = in_msg=JOY0_BUTTON_1, trigger=1, out_msg=VIEW_POINT, out_val=x=5,y=25,label=home,vertex_size=3
  TRIGGER = in_msg=JOY$(JOY_ID)_BUTTON_0, trigger=DOWN, out_msg=FLAG_GRAB_REQUEST, out_val=vname=$(VNAME)
  TRIGGER = in_msg=JOY$(JOY_ID)_BUTTON_1, trigger=DOWN, out_msg=TAG_REQUEST, out_val=vname=$(VNAME)
  DEBUG_MODE = FALSE
  DEBUG_AXIS0 = JOY$(JOY_ID)_AXIS_0
  DEBUG_AXIS1 = JOY$(JOY_ID)_AXIS_5
}


#include plug_iSay.moos
#include plug_uSpeechRec.moos
#include plug_uDialogManager.moos
#include plug_pShare.moos
#include plug_pHostInfo.moos
#include plug_uFldNodeBroker.moos
#include plug_uSimMarine.moos
#include plug_pHelmIvP.moos
#include plug_pMarinePID.moos
#include plug_pLogger.moos
#include plug_pNodeReporter.moos
#include plug_uProcessWatch_Mokai.moos
#include plug_pBasicContactMgr.moos
#include plug_uFldMessageHandler.moos