// Level 2 Configuration file: M. Benjamin

ServerHost = localhost
ServerPort = 9000
Simulator  = true

Community  = beta

MOOSTimeWarp = 5

LatOrigin  = 43.825300 
LongOrigin = -70.330400 

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

  Run = MOOSDB		@ NewConsole = false
  Run = iMarineSim	@ NewConsole = false
  Run = pNodeReporter	@ NewConsole = false
  Run = pMarinePID	@ NewConsole = false
  Run = pLogger         @ NewConsole = false
  Run = pHelmIvP	@ NewConsole = false
  Run = pMarineViewer	@ NewConsole = false
}

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

ProcessConfig = pLogger
{
  AppTick   = 4
  CommsTick = 4

  SyncLog = false
  AsyncLog = true
  WildCardLogging = true

  LoggingDirectorySummaryFile = /Users/mikerb/.plogger2
}

//------------------------------------------
// Uxms config block

ProcessConfig = uXMS
{
  AppTick   = 0.5
  CommsTick = 0.5

  VAR = NAV_X
  VAR = NAV_Y
  VAR = NAV_SPEED
  VAR = MISSION_COMPLETE
  VAR = DEPLOY

  //COLORMAP = pHelmIvP,blue
//  COLOR_MAP = NAV_Y,green
}


//------------------------------------------
// iMarineSim config block

ProcessConfig = iMarineSim
{
  AppTick	= 10
  CommsTick	= 10

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

  PREFIX        = NAV
}

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

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  Behaviors  = beta.bhv
  Verbose    = true
  Domain     = course:0:359:360
  Domain     = speed:0:4:21
  Domain     = depth:0:500:501

  ACTIVE_START = false
  
}

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

ProcessConfig = pMarinePID
{
  AppTick    = 20
  CommsTick  = 20

  VERBOSE       = true
  DEPTH_CONTROL = true

  // SIM_INSTABILITY = 20

  // 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

  //Pitch PID controller
  PITCH_PID_KP                   = 0.5
  PITCH_PID_KD                   = 1.0
  PITCH_PID_KI                   = 0
  PITCH_PID_INTEGRAL_LIMIT       = 0

  //ZPID controller
  Z_TO_PITCH_PID_KP              = 0.12
  Z_TO_PITCH_PID_KD              = 0
  Z_TO_PITCH_PID_KI              = 0.004
  Z_TO_PITCH_PID_INTEGRAL_LIMIT  = 0.05

  //MAXIMUMS
  MAXRUDDER    = 100
  MAXTHRUST    = 100
  MAXPITCH     = 15
  MAXELEVATOR  = 13

  // 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  = 10

  TIFF_FILE            = forrest19.tif
  set_pan_x            = -90
  set_pan_y            = -280
  zoom                 = 0.65
  vehicle_shape_scale  = 1.5
  seglist_edge_width   = 2.0
  seglist_vertex_size  = 4
  seglist_vertex_color = red
  point_vertex_size    = 12
  hash_delta           = 50
  hash_shade           = 0.4
  hash_view            = true

  scope  = VIEW_SEGLIST
  scope  = VIEW_POINT
  scope  = VIEW_POLYGON
  scope  = NAV_X
  scope  = NAV_Y
  scope  = MVIEWER_LCLICK
  scope  = MVIEWER_RCLICK

  left_context   = surface_point
  left_context   = station_point
  left_context   = return_point

  right_context  = loiter_point
  right_context  = station_point
  right_context  = surface_point

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

  ACTION  = MENU_KEY=deploy # DEPLOY = true # RETURN = false
  ACTION+ = MENU_KEY=deploy # MOOS_MANUAL_OVERIDE=false
  ACTION  = RETURN=true
  ACTION  = HSLINE=off
  ACTION  = HSLINE=on
  ACTION  = UPDATES_RETURN=speed=1.4
}

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

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

//------------------------------------------
// uMissionTester config block

ProcessConfig = uMissionTester
{
  AppTick	= 1
  CommsTick	= 1

  TIMEOUT          = 15 minutes
  START_FLAGS      = DEPLOY = true , MOOS_MANUAL_OVERIDE = false
  START_DELAY      = 30 seconds
  START_CONDITION  = IVPHELM_ENGAGED == DISENGAGED
  END_CONDITION    = MISSION_COMPLETE == true
}