ServerHost = localhost
ServerPort = 9005

// Community name IS the vehicle name
Community  = evan

MOOSTimeWarp = 1

// MIT Sailing Pavilion
LatOrigin  =  42.358456		
LongOrigin = -71.087589	



  
//------------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 100
   
  Run = MOOSDB             @ NewConsole = false
  Run = pShare             @ 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 = iM200              @ NewConsole = false
  Run = uProcessWatch      @ NewConsole = false
}

ProcessConfig = iM200
{
  AppTick        = 10
  CommsTick      = 10

  PORT_NUMBER    = 29500
  IP_ADDRESS     = localhost    // Default is 'localhost'
  GPS_PREFIX     = NAV_          // Prepended to GPS position messages.
  DIRECT_THRUST  = false         // Default is false.        
                                 // When true, vehicle is in direct-thrust mode.
                                 // When false, vehicle is in rudder-thrust mode.
  HEADING_OFFSET = 0.0           // Offset to add to published heading 
  PUBLISH_RAW    = true          // When true, publish all messages from
                                 // front seat to M200_RAW_NMEA
  MAX_RUDDER     = 50.0          // Rudder value will be capped to this, +/-
  MAX_THRUST     = 100.0         // Thrust value to each motor will be
                                 // capped to this value, +/-
}


//---------------------------------------------------------
// pShare Config Block  (Created from Plugin)

ProcessConfig = pShare
{
  AppTick    = 2
  CommsTick  = 2

  input = route =  localhost:9305
}


//--------------------------------------------------
// pLogger Configuration Block (Created from Plugin)

ProcessConfig = pLogger
{
  AppTick 	= 10
  CommsTick 	= 10
  
  File		= LOG_EVAN
  PATH		= ./
  //SyncLog 	= true @ 0.2
  AsyncLog 	= true
  FileTimeStamp = true

  Log = IVPHELM_LIFE_EVENT @ 0 nosync

  // Log it all!!!!!
  LogAuxSrc = true
  WildCardLogging = true 
  LoggingDirectorySummaryFile = ~/.pLogger_EVAN

  CompressAlogs = false
}

//--------------------------------------------------------
// pNodeReporter Configuration Block (Created from Plugin)

ProcessConfig = pNodeReporter
{
  AppTick     = 5
  CommsTick   = 5
  
  VESSEL_TYPE = KAYAK
}



ProcessConfig = pMarinePID
{
  AppTick    = 10
  CommsTick  = 10
  
  VERBOSE       = true
  DEPTH_CONTROL = false
  ACTIVE_START  = true
  
  // 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  = 84
  
  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  //SPEED_FACTOR = 67
}


//----------------------------------------------------
// pHelmIvP Configuration Block  (Created from Plugin)

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  ok_skew      = any
  
  Behaviors    = targ_evan.bhv  
  Verbose      = false
  Domain       = course:0:359:360
  Domain       = speed:0:5:26
}

//--------------------------------------------------
// pHostInfo configuration block from plugin

ProcessConfig = pHostInfo
{
  AppTick 	= 1
  CommsTick 	= 1
  Temp_File_Dir = ./

//  DEFAULT_HOSTIP_FORCE = localhost
}


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

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

    TRY_SHORE_HOST = pshare_route=localhost:9300

  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
}

//--------------------------------------------------------
// uProcessWatch Configuration Block (Created from Plugin)

ProcessConfig = uProcessWatch
{
  AppTick   = 2
  CommsTick = 2

  ALLOW_RETRACTIONS = true

  WATCH_ALL = true // default is true

  NOWATCH = uMAC*  
  NOWATCH = uXMS*
  NOWATCH = uPokeDB*
  
  WATCH  = pNodeReporter
  WATCH  = pMarinePID
  WATCH  = pHelmIvP
  WATCH  = iM200
  WATCH  = pShare  
SUMMARY_WAIT = 12
}





ProcessConfig = uXMS                                            
{                                                               
  AppTick   = 4                                                 
  CommsTick = 4                                                 
                                                                
  var    = NAV_X, NAV_Y, NAV_SPEED, NAV_HEADING 
}