//-------------------------------------------------
// NAME: M. Benjamin, MIT CSAIL
// FILE: bravo.moos
//-------------------------------------------------

ServerHost = localhost
ServerPort = 9000
Community  = bravo

MOOSTimeWarp = 1
LatOrigin    = 43.825300 
LongOrigin   = -70.330400 

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

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

//------------------------------------------
// uSimCurrent config block

ProcessConfig = uSimCurrent
{
  AppTick	= 10
  CommsTick	= 10

  current_field = bravo.cfd
}

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

ProcessConfig = pLogger
{
  AppTick   = 4
  CommsTick = 4

  SyncLog = false
  AsyncLog = true

  LogAuxSrc = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}

//------------------------------------------
// uSimMarine config block

ProcessConfig = uSimMarine
{
  AppTick	= 10
  CommsTick	= 10

  start_x       = 0
  start_y       = 0
  start_speed   = 0
  start_heading = 180
  prefix        = NAV
  //current_field = bravo.cfd
}

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

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  behaviors  = bravo.bhv
  verbose    = true
  domain     = course:0:359:360
  domain     = speed:0:4:21
}

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

ProcessConfig = pMarinePID
{
  AppTick    = 20
  CommsTick  = 20

  verbose       = true
  depth_control = false

  // 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

  //MAXIMUMS
  maxrudder    = 100
  maxthrust    = 100

  // Non-zero SPEED_FACTOR overrides SPEED_PID
  // DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  speed_factor = 20
}

//------------------------------------------
// pMarineViewer config block

ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

  tiff_file            = forrest19.tif
  set_pan_x            = -90
  set_pan_y            = -280
  zoom                 = 0.65
  vehicle_shape_scale  = 1.5
  hash_delta           = 50
  hash_shade           = 0.4
  hash_viewable        = true

  // appcast settings
  appcast_height       = 75
  appcast_width        = 30
  appcast_viewable     = true
  appcast_color_scheme = indigo
  nodes_font_size      = medium
  procs_font_size      = medium
  appcast_font_size    = small
  		       
  scope  = VIEW_POINT
  scope  = VIEW_POLYGON
  scope  = VIEW_SEGLIST

  scope  = NAV_X
  scope  = NAV_Y
  scope  = MVIEWER_LCLICK
  scope  = MVIEWER_RCLICK

  left_context = return_point

  button_one = DEPLOY # DEPLOY=true
  button_one = MOOS_MANUAL_OVERRIDE=false # RETURN=false
  button_two = RETURN # RETURN=true

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

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

ProcessConfig = pNodeReporter
{
  AppTick	  = 4
  CommsTick	= 4

  platform_type   = kayak
  platform_length = 3
}