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

#include plug_origin_warp.moos

//------------------------------------------------------------
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB             @ NewConsole = false
  Run = pShare             @ NewConsole = false
  Run = pLogger            @ NewConsole = false
  Run = pNodeReporter      @ NewConsole = false
  Run = pMarinePIDV22      @ NewConsole = false
  Run = pHelmIvP           @ NewConsole = false
  Run = pHostInfo          @ NewConsole = false
  Run = uFldNodeBroker     @ NewConsole = false
  Run = pDeadManPost       @ NewConsole = false
  Run = pRealm             @ NewConsole = false
  Run = uFldMessageHandler @ NewConsole = false
  Run = uProcessWatch      @ NewConsole = false

#ifdef XMODE SIM
  Run = uSimMarineV22      @ NewConsole = false
  Run = iBlueBoat          @ NewConsole = false
#elseifdef XMODE BlueBoat
  Run = iBlueBoat          @ NewConsole = false
#endif
}

#ifdef XMODE SIM
#include plug_iBlueBoat.moos
#elseifdef XMODE BlueBoat
#include plug_iBlueBoat.moos
#endif

#include plug_pShare.moos

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

//---------------------------------------
// pHelmIvP Config Block

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  behaviors    = targ_$(VNAME).bhv
  verbose      = false
  domain       = course:0:359:360
  domain       = speed:0:3.0:31
}

//---------------------------------------
// pNodeReporter Config Block
	
ProcessConfig = pNodeReporter
{
  AppTick     = 2
  CommsTick   = 2

  vessel_type = heron
}

//---------------------------------------
// pDeadManPost Config Block

ProcessConfig = pDeadManPost
{
  AppTick   = 4
  CommsTick = 4

  heartbeat_var   = HEARTBEAT
  max_noheart     = 15
  post_policy     = reset
  active_at_start = false
  deadflag        = DEPLOY = false
}

	
//----------------------------------------
// uFldMessageHandler Config Block
	
ProcessConfig = uFldMessageHandler
{
  AppTick   = 3
  CommsTick = 3

  strict_addressing = false
}

//----------------------------------------
// 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=VIEW_CIRCLE
  bridge = src=APPCAST
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE
}

//---------------------------------------
// pMarinePIDV22 Config Block
	
ProcessConfig = pMarinePIDV22
{
  AppTick    = 10
  CommsTick  = 10

  verbose       = true
  depth_control = false
  active_start  = true

  // Yaw PID controller (Set for M300)
  yaw_pid_kp             = 12 
  yaw_pid_kd             = 2 
  yaw_pid_ki             = 0.3  
  yaw_pid_integral_limit = 0.3 

  // Speed PID controller
  speed_pid_kp           = 1.5
  speed_pid_kd           = 0.25
  speed_pid_ki           = 0.0
  speed_pid_integral_limit = 0.07

  // Maximums
  maxrudder  = 100 // 100
  maxthrust  = 100

  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  //SPEED_FACTOR = 20
}