ServerHost = localhost
ServerPort = 9000
Community  = joytest

MOOSTimeWarp = 1

/// MIT Sailing Pavilion
LatOrigin  = 42.358456
LongOrigin = -71.087589


ProcessConfig = ANTLER
{
  MSBetweenLaunches = 200
  Run = MOOSDB        @ NewConsole = false
//Run = pLogger       @ NewConsole = false
  Run = pNodeReporter @ NewConsole = false
  Run = uSimMarine    @ NewConsole = false
  Run = pMarineViewer @ NewConsole = false
  Run = iJoystick     @ NewConsole = false
  Run = pMapValues    @ NewConsole = false
}

ProcessConfig = iJoystick
{
  AppTick       = 20
  CommsTick     = 20
  Output_Prefix = JOY0
  Dependent     = 0,1
  ID_By_Button	= 3
}


ProcessConfig = pMapValues
{
  AppTick       = 5
  CommsTick     = 5
  RANGE = in_msg=JOY0_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=JOY0_AXIS_1, in_min=-32768, in_max=32767, dead=10, sat=40, norm_min=-1.0, norm_max=0, out_msg=DESIRED_THRUST, out_min=100, out_max=5
  TRIGGER = in_msg=JOY0_BUTTON_0, trigger=DOWN, out_msg=zzz, out_val=xyz
  DEBUG_MODE = TRUE
  DEBUG_AXIS0 = JOY0_AXIS_0
  DEBUG_AXIS1 = JOY0_AXIS_1
}


ProcessConfig = pLogger
{
  AppTick   = 8
  CommsTick = 8

  AsyncLog = true

  // For variables that are published in a bundle on their first post,
  // explicitly declare their logging request

  Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC
  Log = REPORT @ 0 NOSYNC

  LogAuxSrc = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  //WildCardOmitPattern = DB_VARSUMMARY
  //WildCardOmitPattern = DB_RWSUMMARY
  WildCardExclusionLog = true
}

ProcessConfig = pNodeReporter
{
  AppTick    = 2
  CommsTick      = 2

  platform_type   = KAYAK
  platform_length = 4
}

ProcessConfig = uSimMarine
{
  AppTick       = 2
  CommsTick     = 2

  start_x       = 0
  start_y       = -20
  start_heading = 180
  start_speed   = 0

  prefix        = NAV

        //max_rudder_degs_per_sec = 12

  turn_rate     = 40
  thrust_map    = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5
  thrust_reflect = true
}

ProcessConfig = pMarineViewer
{
  AppTick    = 2
  CommsTick  = 2
  tiff_file            = AerialMIT.tif

  set_pan_x            = -90
  set_pan_y            = -280
  zoom                 = 0.65
  vehicle_shape_scale  = 1.5
  hash_delta           = 50
  hash_shade           = 0.4
  hash_viewable        = true

  trails_point_size   = 1

  // Appcast configuration
  appcast_height       = 75
  appcast_width        = 30
  appcast_viewable     = true
  appcast_color_scheme = indigo
  nodes_font_size      = medium
  procs_font_size      = medium
  appcast_font_size    = small

  //datum_viewable = true
  //datum_size     = 18
  //gui_size = small

  //left_context[survey-point] = DEPLOY=true
  //left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false
  //left_context[survey-point] = RETURN=false

  right_context[return] = DEPLOY=true
  right_context[return] = MOOS_MANUAL_OVERRIDE=false
  right_context[return] = RETURN=false

  scope  = MISSION
  scope  = SURVEY_DIST_TO_NEXT
  scope  = SURVEY_DIST_TO_PREV
  scope  = RETURN
  scope  = WPT_STAT
  scope  = VIEW_SEGLIST
  scope  = VIEW_POINT
  scope  = VIEW_POLYGON
  scope  = MVIEWER_LCLICK
  scope  = MVIEWER_RCLICK

  button_one = DEPLOY # DEPLOY=true
  button_one = MOOS_MANUAL_OVERRIDE=false # RETURN=false
  button_two = RETURN # RETURN=true

  action  = MENU_KEY=deploy # DEPLOY = true # RETURN = false
  action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false
  action  = RETURN=true
  action  = UPDATES_RETURN=speed=1.4
}