ServerHost = localhost
ServerPort = $(VPORT)

// Community name IS the vehicle name
Community  = $(VNAME)
  
#include plug_origin_warp.moos
#include plug_uTimerScript.moos
   
//------------------------------------------------------------
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 100
   
  Run = MOOSDB            @ NewConsole = false
  Run = uSimMarineV22     @ NewConsole = false
  Run = pLogger           @ NewConsole = false
  Run = pNodeReporter     @ NewConsole = false
  Run = pMarinePIDV22     @ NewConsole = false
  Run = pHelmIvP          @ NewConsole = false
  Run = uProcessWatch     @ NewConsole = false

  Run = pShare             @ NewConsole = false
  Run = pHostInfo          @ NewConsole = false
  Run = uFldNodeBroker     @ NewConsole = false
  Run = uFldMessageHandler @ NewConsole = false
  Run = uTimerScript       @ NewConsole = false
#ifdef KNOWS_CONTACTS
  Run = pContactMgrV20  @ NewConsole = false
#endif
}

#include plug_pShare.moos
#include plug_pHostInfo.moos
#include plug_pLogger.moos
#include plug_uProcessWatch.moos

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

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

  try_shore_host = pshare_route=localhost:$(SHORE_LISTEN)

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

	//---------------------------------------
ProcessConfig = pMarinePIDV22
{
  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 = uSimMarineV22
{
  AppTick   = 10
  CommsTick = 10

  start_pos = $(START_POS)
  prefix    = NAV
}


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

//--------------------------------------------------
// uFldMessageHandler config block

ProcessConfig = uFldMessageHandler
{
  AppTick   = 3
  CommsTick = 3

  strict_addressing = true
}

//---------------------------------------
ProcessConfig = pNodeReporter
{
  AppTick     = 2
  CommsTick   = 2
  
  platform_type = kayak
}

//---------------------------------------
// pBasicContactMgr Config Block 

ProcessConfig = pContactMgrV20
{
  AppTick   = 2
  CommsTick = 2

  contact_max_age = 3600
  display_radii   = false

	decay = 30,60
	alert_verbose = false
	
  //default_alert_range = 20
  //default_cpa_range   = 28
  //default_alert_range_color = gray70
  //default_cpa_range_color   = gray30

  //alert = id=avd, var=CONTACT_INFO, val="name=$[VNAME] # contact=$[VNAME]"
  //alert = id=avd, alert_range=50, cpa_range=60, alert_range_color=yellow
  //alert = id=avd, cpa_range_color=pink

  alert = id=trail, var=TRAIL_INFO, val="name=$[VNAME] # contact=$[VNAME]"
  //alert = id=trail, alert_range=140, cpa_range=185, alert_range_color=green
  alert = id=trail, alert_range=140, cpa_range=185
  //alert = id=trail, cpa_range_color=white
}