//-------------------------------------------------
// NAME: Tyler Paine adapted from M. Benjamin, MIT
//-------------------------------------------------
ServerHost = localhost
ServerPort = $(MOOS_PORT)
Community  = $(VNAME)



#include plugs.moos <origin_warp>
  
//------------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 50
   
  Run = MOOSDB         @ NewConsole = false
  Run = pLogger        @ NewConsole = false
  Run = pNodeReporter  @ NewConsole = false
  Run = pMarinePIDV22  @ NewConsole = false

  Run = pHelmIvP       @ NewConsole = false
  Run = uProcessWatch  @ NewConsole = false
  Run = pContactMgrV20 @ NewConsole = false
  Run = pShare         @ NewConsole = false
  Run = pHostInfo      @ NewConsole = false
  Run = uFldMessageHandler @ NewConsole = false

  Run = uFldNodeBroker @ NewConsole = false
  Run = uLoadWatch     @ NewConsole = false
  Run = pRealm         @ NewConsole = false

#ifdef XMODE SIM
  Run = uSimMarineV22  @ NewConsole = false
#elseifdef XMODE M300 
  Run = iM300          @ NewConsole = false 
  Run = iM300Health    @ NewConsole = false 
#endif
}

#ifdef XMODE SIM
#include plugs.moos <uSimMarineV22>
#elseifdef XMODE M300
#include plugs.moos <iM300>
#include plugs.moos <iM300Health>
#endif
	
#include plugs.moos <pShare>
#include plugs.moos <pHostInfo>
#include plugs.moos <uProcessWatch>
#include plugs.moos <uLoadWatch>


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

ProcessConfig = pHelmIvP
{
  AppTick   = 1
  CommsTick = 1

  ok_skew   = any
  
  behaviors = targ_$(VNAME).bhv  
  verbose   = false
  domain    = course:0:359:360
  domain    = speed:0:10:21

  goals_mandatory = true
  hold_on_app  = pContactMgrV20
}

//--------------------------------------------------------
// pNodeReporter Config Block

ProcessConfig = pNodeReporter
{
  AppTick     = 5
  CommsTick   = 5

#ifdef VTYPE AUV
  platform_type  = glider
#else
  platform_type  = ship
#endif
  platform_length  = 800
  //group          = $(GROUP)
  platform_color = black
	
}

//--------------------------------------------------------
// pContactMgrV20 Config Block

ProcessConfig = pContactMgrV20
{
  AppTick   = 2
  CommsTick = 2

  decay = 10,20
  //decay = 30,60

  alert_verbose = true

  contact_max_age  = 35
  display_radii    = true
	display_radii_id = avd

	post_closest_range = true	
  display_radii      = true
  alert_range_color  = gray70
  cpa_range_color    = gray30

	hold_alerts_for_helm = true
}

//--------------------------------------------------
// uFldNodeBroker Config Block

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

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

  //try_shore_host = pshare_route=128.30.24.232:9200

  bridge = src=ARRIVAL
  bridge = src=COLREGS_AVOID_MODE
  bridge = src=AVDCOL_MODE
  bridge = src=VIEW_POLYGON
  bridge = src=VIEW_POINT
  bridge = src=VIEW_CIRCLE
  bridge = src=VIEW_SEGLIST
  bridge = src=VEHICLE_CONNECT
  bridge = src=APPCAST
  bridge = src=BCM_DETECTION_DIST
  bridge = src=READY_HOLD
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE

}

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

  strict_addressing = false
}

//-----------------------------------------------------
// pMarinePIDV22 Config Block 

ProcessConfig = pMarinePIDV22
{
  AppTick    = 2
  CommsTick  = 2
  
  verbose       = true
#ifdef VTYPE AUV
  depth_control = true
#else
  depth_control = false
#endif
  active_start  = true
  
  // Yaw PID controller
  yaw_pid_kp             = 1.2
  yaw_pid_kd             = 0.1
  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
}


//--------------------------------------------------
// pLogger Config Block

ProcessConfig = pLogger
{
  AppTick 	= 1
  CommsTick = 1
  
  File      = LOG_%(VNAME)
  PATH      = ./
  AsyncLog  = true
  FileTimeStamp = true

  Log = IVPHELM_LIFE_EVENT @ 0 nosync

  // Log it all!!!!!
  LogAuxSrc = true
  WildCardLogging = true 

	// Except these fellas
	WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = APPCAST
  WildCardOmitPattern = *_ITER_GAP
  WildCardOmitPattern = *_ITER_LEN
  WildCardOmitPattern = PSHARE_OUTPUT_SUMMARY
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
  WildCardOmitPattern = NAV_SPEED_OVER_GROUND
  WildCardOmitPattern = SIMULATION_MODE
  WildCardOmitPattern = TRUE_X
  WildCardOmitPattern = TRUE_Y
  WildCardOmitPattern = NAV_PITCH
  WildCardOmitPattern = NAV_YAW
  WildCardOmitPattern = NAV_Z
  WildCardOmitPattern = NODE_PSHARE_VARS
  WildCardOmitPattern = NODE_BROKER_ACK

  CompressAlogs = false
}

<tag><iM300>
//---------------------------------------------------------
// iM300 config block

ProcessConfig = iM300
{
  AppTick    = 10
  CommsTick  = 10

  comms_type = client
  port       = 29500
  ip_addr    = $(FSEAT_IP)

  stale_thresh = 15

  max_rudder = 50
  max_thrust = 100
  drive_mode = normal
  ignore_msg = $GPGLL, $GPGSV, $GPVTG, $GPZDA, $CPALT, $CPIMU
  ignore_msg = $CPNVR, $GPGST, $CPRCM, $GNGLL, $GNGSV, $GNVTG,
  ignore_msg = $GNZDA, $GLGSV, $GNGSA, $GNTXT
  ignore_checksum_errors = true

  max_appcast_events = 8
  // max_appcast_run_warnings = 10
	// heading_source options are gps, imu, or auto where auto uses imu 
  // when available and not timed out as defined in the stale_thresh
  // parameter
  heading_source = auto

  // threshold in seconds, default is 1.5
  stale_thresh = 5

  nav_prefix     = NAV
  gps_prefix     = GPS
  compass_prefix = COMPASS
}

<tag><iM300Health>
//------------------------------------------------
// iM300Health config block

ProcessConfig = iM300Health
{
  AppTick   = 4
  CommsTick = 4

  StaleTime = 3.0         //  Time until messages are considered stale
  MaxHeadingDelta = 5.0   //  Max Delta allowable between IMU and GPS

  LowBattThresh  = 13.0
  FullBattThresh = 14.4
}