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

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

#include plugs.moos <origin_warp>

//------------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 50
   
  Run = MOOSDB         @ NewConsole = false
  Run = pShare         @ NewConsole = false
  Run = uSimMarineV22  @ 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 = pContactMgrV20 @ NewConsole = false
  Run = pRealm         @ NewConsole = false
}

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

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

	app_logging = true
	
  Behaviors    = targ_$(VNAME).bhv  
  Verbose      = false
  Domain       = course:0:359:360
  Domain       = speed:0:5:26

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

ProcessConfig = pNodeReporter
{
  AppTick     = 2
  CommsTick   = 2

  vessel_type = $(VTYPE)
  terse_reports = true

	group = alpha
}

//--------------------------------------------------------
// 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

	post_closest_range = true
	
  display_radii     = true
  alert_range_color = gray70
  cpa_range_color   = gray30
}

//--------------------------------------------------
// uFldNodeBroker configuration block from plugin

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

  try_shore_host = pshare_route=localhost:$(SHORE_PSHARE)
  //try_shore_host = pshare_route=192.168.7.11:9200
  //try_shore_host = pshare_route=192.168.7.22:9200

	//shadow_shore = ip=192.168.7.29, name=henry, dur=45000
	
  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
}

//------------------------------------------------------
// uSimMarineV22 Config Block

ProcessConfig = uSimMarineV22
{
  AppTick   = 10
  CommsTick = 10

  START_POS = $(START_POS), 0
  PREFIX    = NAV

	turn_rate = 90
	
  //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

	deprecated_ok = true
	
  VERBOSE       = true
  DEPTH_CONTROL = false
  ACTIVE_START  = true
  
  // Yaw PID controller
  YAW_PID_KP             = 1.2
  YAW_PID_KD             = 0.1
  YAW_PID_KI             = 0.3
  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 plugs.moos <pHostInfo>
#include plugs.moos <pLogger>