//-------------------------------------------------
// NAME: M. Benjamin, MIT CSAIL
// FILE: alpha.moos
//-------------------------------------------------

ServerHost   = localhost
ServerPort   = 9000
Community    = alpha
MOOSTimeWarp = 1

// Lake Popolopen
LatOrigin  = 41.35480
LongOrigin = -74.0551

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

  Run = MOOSDB        @ NewConsole = false
  Run = pLogger       @ NewConsole = false
  Run = uSimMarine	  @ NewConsole = false
  Run = pMarinePID    @ NewConsole = false
  Run = pHelmIvP      @ NewConsole = false
  Run = pMarineViewer	@ NewConsole = false
  Run = uProcessWatch	@ NewConsole = false
  Run = pNodeReporter	@ NewConsole = false
  Run = uMemWatch     @ NewConsole = false
}

//------------------------------------------
// uMemWatch config block

ProcessConfig = uMemWatch                                       
{                                                               
  AppTick   = 4                                                 
  CommsTick = 4                                                 
                                                                
  absolute_time_gap = 1   // In Seconds, Default is 4

  watch_only = pHelmIvP,pMarineViewer
}                                  

//------------------------------------------
// pLogger config block

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
  Log = BHV_SETTINGS @ 0 NOSYNC
  Log = OSPOS @ 0 NOSYNC
  Log = INFO @ 0 NOSYNC

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

//------------------------------------------
// uProcessWatch

ProcessConfig = uProcessWatch
{
  AppTick   = 4
  CommsTick = 4

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

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

ProcessConfig = uSimMarine
{
  AppTick  	= 4
  CommsTick	= 4

  start_pos = x=-20, y=-20, heading=15, speed=0

  prefix        = NAV

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

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

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  behaviors  = alpha.bhv
  domain     = course:0:359:360
  domain     = speed:0:4:41
}

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

ProcessConfig = pMarinePID
{
  AppTick    = 20
  CommsTick  = 20

  verbose       = true
  depth_control = false

  // SIM_INSTABILITY = 20

  // Yaw PID controller
  yaw_pid_kp		 = 1.2
  yaw_pid_kd		 = 0.0
  yaw_pid_ki		 = 0.3
  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            = ../popolopen19_esrisat.tif

  set_pan_x            = -670
  set_pan_y            = -140
  zoom                 = 1.2
  vehicles_shape_scale = 1.5
  vehicles_name_mode   = names

  hash_delta           = 50
  hash_shade           = 0.22
  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      = large
  procs_font_size      = large
  appcast_font_size    = large
  
  datum_viewable = true
  datum_size     = 5
  // 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  = CRUISE_SPD
  scope  = HELM_CORE_SIZE_MAX
  scope  = HELM_CORE_SIZE
  scope  = HELM_ENGINE_SIZE
  scope  = HELM_SIZE
  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
  button_three = SLOWER # WPT_UPDATE=speed=1.5
  button_four = FASTER # WPT_UPDATE=speed=3.5

  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
}

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

ProcessConfig = pNodeReporter
{
  AppTick    = 2
  CommsTick	 = 2

  platform_type   = kayak
  platform_color  = yellow
  platform_length = 4
}