ServerHost = localhost
ServerPort = $(VPORT)
Simulator  = true

// Community name IS the vehicle name
Community  = $(VNAME)

#include plugs.moos <origin_warp>
  
//------------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 100
   
  Run = MOOSDB           @ NewConsole = false
  Run = uProcessWatch    @ NewConsole = false
  Run = pShare           @ NewConsole = false
  Run = uSimMarineV22    @ NewConsole = false
  Run = pLogger          @ NewConsole = false
  Run = pNodeReporter    @ NewConsole = false
  Run = pMarinePIDV22    @ NewConsole = false
  Run = pHelmIvP         @ NewConsole = false
  Run = pHostInfo        @ NewConsole = false
  Run = uFldNodeBroker   @ NewConsole = false
  Run = pRealm           @ NewConsole = false
}


#include plugs.moos <pShare>
#include plugs.moos <pHostInfo>
#include plugs.moos <uProcessWatch>

//--------------------------------------------------
// uFldNodeBroker config block 

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

  try_shore_host = pshare_route=$(SHORE_IP):$(SHORE_PSHARE)

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

//------------------------------------------------------
// uSimMarineV22 config block

ProcessConfig = uSimMarineV22
{
  AppTick   = 10
  CommsTick = 10

  start_pos = $(START_POS), 180, 0
  prefix    = NAV

	turn_rate = 80
	
  //rotate_speed = 0.012
  //drift_x      = 0.0045

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

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

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4
  
  behaviors    = targ_$(VNAME).bhv  
  verbose      = false
  Domain       = course:0:359:360
  Domain       = speed:0:5:26
}

//-----------------------------------------------------
// pMarinePIDV22 config block

ProcessConfig = pMarinePIDV22
{
  AppTick    = 10
  CommsTick  = 10
  
  verbose       = true
  depth_control = false
  active_start  = true
  
  // Yaw PID controller
  yaw_pid_kp             = 1.4
  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
}

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

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

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

ProcessConfig = pLogger
{
  AppTick 	= 5
  CommsTick 	= 5
  
  File		= LOG_%(VNAME)
  PATH		= ./
  AsyncLog 	= true
  FileTimeStamp = true

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