ServerHost = localhost
ServerPort = 9001
Community  = henry

MOOSTimeWarp = 10


// MIT Sailing Pavilion (PavLab)
LatOrigin = 42.358436
LongOrigin = -71.087448


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

  Run = MOOSDB             @ NewConsole = false
  Run = uProcessWatch      @ 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 = uSimMarineV22      @ NewConsole = false
}


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

ProcessConfig = uSimMarineV22
{
  AppTick   = 20
  CommsTick = 20

  start_pos = 0,-10,180
  prefix    = NAV

  //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
}


//---------------------------------------------------------
// pShare Config Block

ProcessConfig = pShare
{
  AppTick    = 2
  CommsTick  = 2

  input = route =  localhost:9201
}


//--------------------------------------------------
ProcessConfig = pLogger
{
  AppTick     = 10
  CommsTick   = 10

  File    = LOG_HENRY
  PATH    = ./
  SyncLog   = true @ 0.2
  AsyncLog   = true
  FileTimeStamp = true

  Log = IVPHELM_LIFE_EVENT @ 0 nosync

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

//--------------------------------------------------
// pHostInfo config block

ProcessConfig = pHostInfo
{
  AppTick 	= 1
  CommsTick = 1

  default_hostip_force = localhost
}


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

  allow_retractions = true

  watch_all = true // default is true

  nowatch = uMAC*
  nowatch = uXMS*
  nowatch = uPokeDB*

  summary_wait  = 12
}


//---------------------------------------
ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  behaviors    = targ_henry.bhv
  verbose      = false
  domain       = course:0:359:360
  domain       = speed:0:2.0:21
}

//---------------------------------------
// pNodeReporter Config Block
	
ProcessConfig = pNodeReporter
{
  AppTick     = 20
  CommsTick   = 20

  vessel_type = kayak
}

//------------------------------------------
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=localhost:9200

  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             = 0.9 
  yaw_pid_kd             = 0.6 
  yaw_pid_ki             = 0.3  
  yaw_pid_integral_limit = 0.3 

  // 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 // 100
  maxthrust  = 100

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