//-------------------------------------------------
// NAME: M. Benjamin, MIT MechE
// FILE: meta_vehicle.moos
//-------------------------------------------------

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

#include plug_origin_warp.moos

//------------------------------------------
// Antler configuration  block

ProcessConfig = ANTLER
{
  MSBetweenLaunches = 200

  Run = MOOSDB		     @ NewConsole = false
  Run = pRealm         @ NewConsole = false
  Run = pLogger        @ NewConsole = false
  Run = pNodeReporter	 @ NewConsole = false
  Run = pMarinePIDV22_mjs  @ NewConsole = false
  Run = pHelmIvP	     @ NewConsole = false
  Run = uProcessWatch	 @ NewConsole = false
  Run = pShare         @ NewConsole = false
  Run = pHostInfo      @ NewConsole = false
  Run = uFldNodeBroker @ NewConsole = false
  Run = pSailOdometry  @ NewConsole = false	

#ifdef XMODE SIM
  Run = uSimMarineV22   @ NewConsole = false
  Run = uSimPolarResult @ NewConsole = false
#else
  Run = iSailBoat       @ NewConsole = false
#endif
}

//------------------------------------------
// pRealm config block

ProcessConfig = pRealm
{
  AppTick   = 4
  CommsTick = 4

	hist_var = FEEDBACK_MSG

	msg_max_hist = 20
	
	scope_set = name=events, vars=NEXT_POINT:PREV_POINT:RF_NEXT:RF_PREV:CURR_TIME
	scope_set = name=events, vars=CYCLE_STATUS:INDEX
	scope_set = name=events2, vars=WPTS_TOTAL:CYCLES_REMAINING:WPTS_REMAIN
	scope_set = name=bflags, vars=CFLAG:WFLAG:EFLAG
}


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

ProcessConfig = pLogger
{
  AppTick   = 8
  CommsTick = 8

  AsyncLog = true

  // For variables that are published in a bundle on their first post,
  // explicitly declare their logging request

  File = XLOG_$(VNAME)

	
  Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC
  Log = APP_LOG @ 0 NOSYNC

  file = alpha

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

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

ProcessConfig = pNodeReporter
{
  MaxAppTick    = 2
  AppTick  	= 2
  CommsTick	= 2

  platform_type   = heron
  platform_length = 4

	rider = var=WFLAG, policy=always, rfld=mflagx
	rider = var=CFLAG, policy=10
}

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

ProcessConfig = pMarinePIDV22_mjs
{
  AppTick    = 10
  CommsTick  = 10

  max_sat_hdg_debug = false
  max_sat_spd_debug = true

  verbose       = true
  depth_control = false

  // SIM_INSTABILITY = 20

  // 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
  
  thrust_name = DESIRED_THRUST_NULL
}

//------------------------------------------
// uProcessWatch config block

ProcessConfig = uProcessWatch
{
  AppTick   = 4
  CommsTick = 4

  summary_wait = 5

  nowatch   = uXMS*
  nowatch   = uMAC*
  nowatch   = uPokeDB*
  nowatch   = uTermCommand*
  watch_all = true
}

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

ProcessConfig = pHelmIvP
{
  MaxAppTick = 10
  AppTick    = 4
  CommsTick  = 4

  term_report_interval = 0

	//app_logging = true
	
  bhv_dir_not_found_ok = true
  //ivp_behavior_dir = /Users/ddmikerb

	verbose    = terse
	
  behaviors  = targ_$(VNAME).bhv  
  domain     = course:0:359:360
  domain     = speed:0:4:21
}

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

ProcessConfig = pShare
{
  AppTick    = 2
  CommsTick  = 2

  input = route =  $(IP_ADDR):$(PSHARE_PORT)
}

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

ProcessConfig = pHostInfo
{
  AppTick 	= 1
  CommsTick = 1

#ifdef IP_ADDR
  default_hostip_force = $(IP_ADDR)
#endif
}

//--------------------------------------------------
// uFldNodeBroker configuration block

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

  try_shore_host = pshare_route=$(SHORE_IP):$(SHORE_PSHARE)

  bridge = src=TEST_POST
  bridge = src=VIEW_POLYGON
  bridge = src=VIEW_POINT
  bridge = src=VIEW_SEGLIST
  bridge = src=VIEW_ARROW
  bridge = src=APPCAST
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE
#ifdef XMODE SIM
#else
  // send to shore if not in sim
  bridge = src=WIND_CONDITIONS, alias=WIND_CONDITIONS
#endif 
}


#ifdef XMODE SIM
//------------------------------------------
// uSimMarineV22 config block

ProcessConfig = uSimMarineV22
{
  AppTick	  = 8
  CommsTick	= 8
 
	app_logging = true
	
  start_x       = 8
  start_y       = -12
  start_speed   = 0
  start_heading = 165

	max_acceleration = 0.25

	wind_conditions = spd=3.3, dir=180
	polar_plot = $(POLAR)
	
	turn_spd_map_full_speed = .6
	turn_spd_map_null_speed = 0.5
	turn_spd_map_full_rate  = 80
	turn_spd_map_null_rate  = 10
	
  prefix        = NAV
  turn_rate     = 240
  thrust_map    = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5
}

//---------------------------------------------------------
// uSimPolarResult Config Block 

ProcessConfig = uSimPolarResult
{
  AppTick    = 2
  CommsTick  = 2

// From Ray Turissi Sept 9,2022
// Must be in meta_ file since nsplug does not properly expand the polar string!!!
//  polar_plot = 0,0:6,9:18,7:30,23:45,41:57,37:69,37:81,45:93,53:105,62:117,60:129,49:141,69:153,86:168,79:180,80
//  From Ray Turissi Sept 9,2022 in m/s
// start with 0,0, then points up to < 180, then end with 180 and same value as pair before 180.
  polar_plot = 0,0:6,0.09:18,0.07:30,0.23:45,0.41:57,0.37:69,0.37:81,0.45:93,0.53:105,0.62:117,0.6:129,0.49:141,0.69:153,0.86:168,0.79:180,0.73
  use_prop = true
  prop_band = 30
  prop_thrust = 20
}

#else
#include plug_iSailBoat.moos
#endif

//---------------------------------------------------------
// pSailOdometry

ProcessConfig = pSailOdometry
{
  AppTick    = 2
  CommsTick  = 2

  // these primary waypoints will have to be repeated until replacement macros work properly
  // or a file reader is implemented to scrape the points from the BHV file 
  points = pts={50,-50:150,0:  250,-15:190,-75:     225,-100:50,-180}
  
}