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

#include plug_origin_warp.moos

//------------------------------------------------------------
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 = pMarinePID           @ NewConsole = false
  Run = pHelmIvP             @ NewConsole = false
  Run = pHostInfo            @ NewConsole = false
  Run = uFldNodeBroker       @ NewConsole = false
  Run = pRealm               @ NewConsole = false
  Run = uFldMessageHandler   @ NewConsole = false
  Run = pTaskManager         @ NewConsole = false
  Run = pContactMgrV20       @ NewConsole = false
  // Run = pMediator            @ NewConsole = false

  Run = pTurnInPlace       @ 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 plug_uSimMarineV22.moos
#include plug_pLogger_sim.moos
#elseifdef XMODE M300
#include plug_iM300.moos
#include plug_iM300Health.moos
#include plug_pLogger.moos
#endif



#include plug_pShare.moos
#include plug_pHostInfo.moos
#include plug_uProcessWatch.moos

//------------------------------------------------------
pTurnInPlace Config Block

ProcessConfig = pTurnInPlace
{
  AppTick   = 4
  CommsTick = 4

  vname = $(VNAME)
  condition = TURN_IN_PLACE==true
  updates = TIP_UPDATE
  endflag = TURN_IN_PLACE = false
  point = 30,-30

  mode = $(XMODE)
}


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

  behaviors    = targ_$(VNAME).bhv
  verbose      = terse
  domain       = course:0:359:360
  domain       = speed:-1.0:2.0:31

  // #ifdef MODE deploy
  // hold_on_apps = pContactMgrV20, pTaskManager
  // #else
  // hold_on_apps = pTaskManager
  // #endif
  // hold_on_apps = pTaskManager,pContactMgrV20
  hold_on_apps = pTaskManager
}

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

  vessel_type = heron
  platform_length = 1.35
}

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

  strict_addressing = false
}

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

ProcessConfig = uFldNodeBroker
{
  AppTick   = 10
  CommsTick = 10

  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=VIEW_VECTOR
  bridge = src=APPCAST
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE
  // bridge = src=DEMUSTER_ASSIGN
  bridge = src=DUBIN_POINTS_LEFT
  bridge = src=DEADLOCK
  bridge = src=PERMANENTLY_BLOCKED
  bridge = src=I_WANT_CONTROL
  bridge = src=DEMUSTER_COMPLETE
  bridge = src=DUBIN_COMPLETE
}

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

  verbose       = true
  depth_control = false
  active_start  = true

  deprecated_ok = true

  // Yaw PID controller (Set for M300)
  #ifdef XMODE SIM
    yaw_pid_kp             = 3.0 
    yaw_pid_kd             = 0.3 
  #elseifdef XMODE M300
    yaw_pid_kp             = 0.8 
    yaw_pid_kd             = 0.6 
  #endif
  yaw_pid_ki             = 0.1  
  yaw_pid_integral_limit = 0.3 

  // Speed PID controller
  speed_pid_kp           = 1.0
  #ifdef XMODE SIM
    speed_pid_kd         = 0.5
  #elseifdef XMODE M300
    speed_pid_kd         = 0.0
  #endif
  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
}

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

ProcessConfig = pContactMgrV20
{
  AppTick   = 2
  CommsTick = 2

  decay = 30,60

  alert_verbose = true

  post_all_ranges = true

  contact_max_age = 35
	display_radii_id = avd
  display_radii = false
  alert_range_color = gray70
  cpa_range_color   = gray30

	hold_alerts_for_helm = true 
}

//------------------------------------------
// pTaskManager config block

ProcessConfig = pTaskManager
{
  AppTick   = 20
  CommsTick = 20

	max_appcast_events = 20
}

// //------------------------------------------
// // pMediator config block

// ProcessConfig = pMediator
// {
//   AppTick   = 4
//   CommsTick = 4

// 	//app_logging = true

// 	//no_ack_vars = MUSTER_COLLAB
	
	
// 	resend_thresh = 2
// 	max_tries = 10

// }