// mokai.moos
//
// Alon Yaari, May 2014
//
// Sample mission file to demonstrate iActuationMokai

ServerHost = localhost
ServerPort = 9000
Simulator  = true

Community  = mokai

MOOSTimeWarp = 1

LatOrigin  = 43.825300 
LongOrigin = -70.330400 

//------------------------------------------
// Antler configuration  block
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 200

  Run = MOOSDB		@ NewConsole = false
  Run = uSimMarine	@ NewConsole = false
  Run = pNodeReporter	@ NewConsole = false
  Run = pMarinePID	@ NewConsole = false
  Run = pMarineViewer	@ NewConsole = false
  Run = uProcessWatch   @ NewConsole = false
  Run = pHelmIvP	@ NewConsole = false
//  Run = pLogger         @ NewConsole = false
//  Run = iActuationMokai @ NewConsole = true
}

ProcessConfig = pLogger
{
  AppTick 	= 10
  CommsTick 	= 10
  
  File		= LOG_
  PATH		= ./
  //SyncLog 	= true @ 0.2
  AsyncLog 	= true
  FileTimeStamp = true

  Log = IVPHELM_LIFE_EVENT @ 0 nosync

  // Log it all!!!!!
  LogAuxSrc = true
  WildCardLogging = true 

  CompressAlogs = false
}


ProcessConfig = iActuationMokai                                 
{                                                               
  AppTick   = 5                                                 
  CommsTick = 5                                                 
  VERBOSE         = true          // Verbose status messages    
  PORT            = /dev/tty.usbserial-12AP0631  // Replace with path to port  
  STREAMING       = true          // Always set to true         
  BAUDRATE        = 115200        // Should always be 115200    
  MAX_THRUST      = 100.0         // Normalize to this maximum  
  FULL_RUDDER     = 45.0          // Normalize to this maximum  
  HBEAT_TO_MOKAI  = 1.0           // Our heartbeat      (Note A)
  WDOG_LOCAL_HELM = 1.0           // Helm watchdog      (Note B)
  WDOG_FROM_MOKAI = 1.0           // Frontseat watchdog (Note B)
}                                                               


//------------------------------------------
// uSimMarine config block

ProcessConfig = uSimMarine
{
  AppTick	= 10
  CommsTick	= 10

  START_X       = 0
  START_Y       = 0
  START_SPEED   = 0
  START_HEADING = 180

  PREFIX        = NAV
}


//------------------------------------------
// uProcessWatch config block

ProcessConfig = uProcessWatch
{
  AppTick   = 4
  CommsTick = 4

  term_report_interval = 0.8

  summary_wait = 5

  nowatch   = uXMS*
  nowatch   = uPokeDB*
  nowatch   = uTermCommand*
  watch_all = true
}


//------------------------------------------
// pHelmIvP config block

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  Behaviors  = mokai.bhv
  Verbose    = quiet
  Domain     = course:0:359:360
  Domain     = speed:0:5:21

  //IVP_BEHAVIOR_DIR = ../../lib

  ok_skew = any
  active_start = false
}

//------------------------------------------
// pMarinePID config block

ProcessConfig = pMarinePID
{
  AppTick    = 20
  CommsTick  = 20

  VERBOSE       = true
  DEPTH_CONTROL = false

  // Yaw PID controller
  YAW_PID_KP		 = 0.5
  YAW_PID_KD		 = 0.0
  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
  MAXTHRUST    = 100

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

//------------------------------------------
// pMarineViewer config block

ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

  TIFF_FILE            = forrest19.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

   // 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

  BUTTON_ONE = DEPLOY # DEPLOY=true
  BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false
  BUTTON_TWO = RETURN # RETURN=true
}

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

ProcessConfig = pNodeReporter
{
  AppTick	= 2
  CommsTick	= 2
  VESSEL_TYPE   = KAYAK
}