//*******************************************************
// Vehicle MOOS configuration file

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

#include plugs.moos <origin_warp>
  
//------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 150
   
  Run = MOOSDB         @ NewConsole = false
  Run = pRealm         @ NewConsole = false
  Run = uSimMarineV22  @ NewConsole = false
  Run = pMarinePIDV22  @ NewConsole = false
  Run = pLogger        @ NewConsole = false
  Run = pNodeReporter  @ NewConsole = false
  Run = pHelmIvP       @ NewConsole = false
  Run = uProcessWatch  @ NewConsole = false

  Run = pShare         @ NewConsole = false
  Run = pHostInfo      @ NewConsole = false
  Run = uFldNodeBroker @ 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_PSHARE_VARS
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE
}

//----------------------------------------------------
// pHelmIvP config Block 

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  ok_skew      = any
  
  behaviors    = targ_$(VNAME).bhv  
  verbose      = false
  domain       = course:0:359:360
  domain       = speed:0:5:26
}
//--------------------------------------------------------
// pNodeReporter config Block

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

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

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

  Log = IVPHELM_LIFE_EVENT @ 0 nosync
  Log = BCM_ALERT_REQUEST @ 0 nosync
  Log = MUSTER_START @ 0 nosync
  Log = MISSION_TASK @ 0 nosync
  Log = APPCAST @ 0 nosync
  Log = APP_LOG @ 0 nosync

  LogAuxSrc = true

  // Log it all!!!!!
  WildCardLogging = true 
  WildCardOmitPattern = *_STATUS
  //WildCardOmitPattern = APPCAST
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY

  WildCardOmitPattern = NAV_PITCH, NAV_YAW, NAV_Z
  //WildCardOmitPattern = NAV_LAT, NAV_LONG
  WildCardOmitPattern = SIMULATION_MODE, TRUE_X, TRUE_Y, DB_CLIENTS
  WildCardOmitPattern = NAV_DEPTH, NAV_SPEED_OVER_GROUND, DB_QOS
  WildCardOmitPattern = NODE_BROKER_PING_0, PSHARE*
  WildCardOmitPattern = IVPHELM_ALLSTOP_DEBUG, *ITER_GAP, *ITER_LEN
  WildCardOmitPattern = PHI_HOST*
  //WildCardOmitPattern = NODE_REPORT_LOCAL
}

//------------------------------------------------------
// uSimMarineV22 config Block 

ProcessConfig = uSimMarineV22
{
  AppTick   = 10
  CommsTick = 10

  START_POS = $(START_POS), 180, 0
  PREFIX    = NAV
}

//-----------------------------------------------------
// pMarinePIDV22 config Block 

ProcessConfig = pMarinePIDV22
{
  AppTick    = 10
  CommsTick  = 10
  
  VERBOSE       = true
  DEPTH_CONTROL = false
  ACTIVE_START  = true
  
  // Yaw PID controller
  YAW_PID_KP             = 1.2
  YAW_PID_KD             = 0.0
  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
}