//-------------------------------------------------
// NAME: M. Benjamin, MIT CSAIL
// FILE: $(VNAME).moos
//-------------------------------------------------

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

#include plug_origin_warp.moos

//------------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 50
   
  Run = MOOSDB         @ NewConsole = false
  Run = uProcessWatch  @ NewConsole = false
  Run = pShare         @ NewConsole = false
  Run = uSimMarine     @ NewConsole = false
  Run = pLogger        @ NewConsole = false
  Run = pNodeReporter  @ NewConsole = false
  Run = pMarinePID     @ NewConsole = false
  Run = pHelmIvP       @ NewConsole = false
  Run = pHostInfo      @ NewConsole = false
  Run = uFldNodeBroker @ NewConsole = false
  Run = uLoadWatch     @ NewConsole = false
  Run = uMemWatch      @ NewConsole = false
  Run = iSay           @ NewConsole = false
  Run = pContactMgrV20 @ NewConsole = false
  Run = pRealm         @ NewConsole = false
}

//---------------------------------------------------------
// pRealm Config Block

ProcessConfig = pRealm
{
  AppTick    = 2
  CommsTick  = 2

	summary_interval = 7.6
  relcast_interval = 0.55
}

//----------------------------------------------------
// pHelmIvP Configuration Block  

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4
  
  behaviors    = targ_$(VNAME).bhv  
  verbose      = false
  domain       = course:0:359:360
  domain       = speed:0:$(MAXSPD):26

	hold_on_apps = pContactMgrV20
}
	
//--------------------------------------------------------
// pNodeReporter Configuration Block 

ProcessConfig = pNodeReporter
{
  AppTick     = 2
  CommsTick   = 2

  vessel_type = $(VTYPE)
  terse_reports = true
}

//--------------------------------------------------------
// pContactMgrV20 Configuration Block

ProcessConfig = pContactMgrV20
{
  AppTick   = 2
  CommsTick = 2

  decay = 30,60

  alert_verbose = true

  contact_max_age  = 35
  display_radii    = true
	display_radii_id = avd

	//match_region = pts = {60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40}
	//match_type = kayak, uuv
	
  display_radii     = true
  alert_range_color = gray70
  cpa_range_color   = gray30
}

//--------------------------------------------------
// uFldNodeBroker Configuration

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

	try_shore_host = pshare_route=$(SHORE_IP):$(SHORE_PSHARE)
  //try_shore_host = pshare_route=localhost:$(SHORE_PSHARE)
  //try_shore_host = pshare_route=sdfsdfdoceanai.mit.edu:$(SHORE_PSHARE)

  bridge = src=VIEW_POLYGON
  bridge = src=VIEW_CIRCLE
  bridge = src=VIEW_POINT
  bridge = src=VIEW_SEGLIST
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE
}

//------------------------------------------------------
// uSimMarine Configuration

ProcessConfig = uSimMarine
{
  AppTick   = 10
  CommsTick = 10

  start_pos = $(START_POS), $(START_HDG), $(START_SPD))
  prefix    = NAV

	thrust_map = 100:$(MAXSPD)
	
  //rotate_speed = 0.012
  //drift_x      = 0.0045

  //thrust_map = -100:-2, 0:0, 20:1, 40:2, 60:3, 80:5, 100:5
  //thrust_map = -100:-2, 0:0, 20:1, 40:2, 60:3, 80:5, 100:5
}

//-----------------------------------------------------
// pMarinePID Configuration Block (created from plugin)

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
}


	
#include plug_uMemWatch.moos
#include plug_pShare.moos
#include plug_pHostInfo.moos
#include plug_pLogger.moos
#include plug_uProcessWatch.moos
#include plug_uLoadWatch.moos
#include plug_iSay.moos