ServerHost = localhost
ServerPort = 9202
Simulator  = true

// Community name IS the vehicle name
Community  = vehicle2
  
LatOrigin  = 42.3584
LongOrigin = -71.08745

   
//------------------------------------------------------------
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 200
   
  Run = MOOSDB          @ NewConsole = false
  Run = iMarineSim      @ NewConsole = false
  Run = pMOOSBridge     @ NewConsole = false ~ pMOOSBridge_2
  Run = pLogger         @ NewConsole = false
  Run = pNodeReporter   @ NewConsole = false
  Run = pMarinePID      @ NewConsole = false
  Run = pHelmIvP        @ NewConsole = false
  Run = uProcessWatch   @ NewConsole = false
}
  
//---------------------------------------
ProcessConfig = pMOOSBridge_2
{
  AppTick    = 4
  CommsTick  = 4
  
  SHARE = [NODE_REPORT_LOCAL]   -> shoreside @ localhost:9123 [NODE_REPORT]
  SHARE = [VIEW_POLYGON]       -> shoreside @ localhost:9123 [VIEW_POLYGON]
  SHARE = [VIEW_POINT]         -> shoreside @ localhost:9123 [VIEW_POINT]
  SHARE = [PROC_WATCH_SUMMARY] -> shoreside @ localhost:9123 [PROC_WATCH_SUMMARY_VH2]
  
  SHARE = [NODE_REPORT_LOCAL]   -> vehicle1  @ localhost:9201 [NODE_REPORT]
  SHARE = [NODE_REPORT_LOCAL]   -> vehicle2  @ localhost:9202 [NODE_REPORT]
}

//------------------------------------------
ProcessConfig = iMarineSim
{
  AppTick   = 10
  CommsTic  = 10

  START_POS = -10,-25,180,0
  PREFIX    = NAV
}

//---------------------------------------
ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4
  
  Behaviors    = vehicle2.bhv  
  Verbose      = false
  Domain       = course:0:359:360
  Domain       = speed:0:5:26
  ACTIVE_START = true
}

//---------------------------------------
ProcessConfig = pMarinePID
{
  AppTick    = 10
  CommsTick  = 10
  
  VERBOSE       = true
  DEPTH_CONTROL = false
  ACTIVE_START  = true
  
  // Yaw PID controller
  YAW_PID_KP             = 0.4
  YAW_PID_KD             = 0.1
  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
}

//---------------------------------------
ProcessConfig = pLogger
{
  AppTick 	= 10
  CommsTick 	= 10
  
  File		= M1_V2_
  PATH		= ./
  SyncLog 	= true @ 0.2
  AsyncLog 	= true
  FileTimeStamp = true

  // Log it all!!!!!
  WildCardLogging = true 
  
  // PID Output
  Log		= DESIRED_THRUST     @ 0
  Log		= DESIRED_RUDDER     @ 0
  
  // Helm Output
  Log           = DESIRED_SPEED      @ 0
  Log           = DESIRED_HEADING    @ 0
  Log           = HELM_ACTIVE_BHV    @ 0   NOSYNC
  Log           = HELM_NONIDLE_BHV   @ 0   NOSYNC
  log           = DEPLOY             @ 0   NOSYNC
  
  // Vehicle-Level IO
  Log           = PROC_WATCH_SUMMARY @ 0   NOSYNC
  Log           = PROC_WATCH_EVENT   @ 0   NOSYNC
  Log           = AIS_REPORT_LOCAL   @ 0   NOSYNC
  Log           = AIS_REPORT         @ 0   NOSYNC
  
  // Navigation information
  Log           = NAV_X              @ 0
  Log           = NAV_Y              @ 0
  Log           = NAV_HEADING        @ 0
  Log           = NAV_SPEED          @ 0
}

//---------------------------------------
ProcessConfig = pNodeReporter
{
  AppTick     = 5
  CommsTick   = 5
  
  VESSEL_TYPE = KAYAK
}

//---------------------------------------
ProcessConfig = uProcessWatch
{
  AppTick   = 2
  CommsTick = 2
  
  WATCH  = iMarineSim
  WATCH  = pMOOSBridge*
  WATCH  = pEchoVar
  WATCH  = pLogger
  WATCH  = pNodeReporter
  WATCH  = pMarinePID
  WATCH  = pHelmIvP
}