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

#include plugs.moos <origin_warp>

//------------------------------------------------------------
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

#ifdef XMODE SIM
  Run = uSimMarineV22      @ NewConsole = false
#elseifdef XMODE M300
  Run = iM300X             @ NewConsole = false
  Run = iM300Health        @ NewConsole = false
#endif
}

#ifdef XMODE SIM
  #include plugs.moos <uSimMarineV22>
#elseifdef XMODE M300
  //#include plugs.moos <iM300X>
  #include plugs.moos <iM300Health>
#endif

#include plugs.moos <pShare>
#include plugs.moos <pHostInfo>
#include plugs.moos <uProcessWatch>

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

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

	app_logging = true
	
  behaviors   = targ_$(VNAME).bhv
  verbose     = false
  domain      = course:0:359:360
  domain      = speed:0:$(MAX_SPD):21

	goals_mandatory = true
}

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

  File          = LOG_%(VNAME)
  PATH          = ./
  AsyncLog      = true
  FileTimeStamp = true

  Log = IVPHELM_LIFE_EVENT @ 0 nosync

  // Log it all!!!!!
  LogAuxSrc = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = *_ITER_GAP
  WildCardOmitPattern = *_ITER_LEN
  WildCardOmitPattern = *_OVER_GROUND
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
  WildCardOmitPattern = APPCAST
  WildCardOmitPattern = NAV_Z
  WildCardOmitPattern = NAV_PITCH
  WildCardOmitPattern = DB_QOS

  //WildCardOmitPattern = BHV_IPF
}

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

	platform_color = $(COLOR)
  vessel_type = kayak
}

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

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

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

	// Common locations worth trying
	//try_shore_host = pshare_route=192.168.1.37:9200

  bridge = src=VIEW_POLYGON
  bridge = src=VIEW_POINT
  bridge = src=VIEW_SEGLIST
  bridge = src=VIEW_CIRCLE
  bridge = src=VIEW_TEXTBOX
  bridge = src=APPCAST
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE

  bridge = src=LR_MODE_REPORT

  bridge = src=LEG_SPDS_REP
  bridge = src=FT_REPORT

}

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

	app_logging = true

	deprecated = true
	
	deprecated_ok = true
	
  verbose       = true
  depth_control = false
  active_start  = true

#ifdef XMODE SIM
  yaw_pid_kp     = 1.2
  yaw_pid_kd     = 0.0
  yaw_pid_ki     = 0.3
  yaw_pid_integral_limit = 0.07
#elseifdef XMODE M300
  // 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 
#endif

  // Speed PID controller BETA
  //speed_pid_kp           = 0.9
  //speed_pid_kd           = 0.5
  //speed_pid_ki           = 0.05
  //speed_pid_integral_limit = 0.07

  // Speed PID controller Nov0323
  speed_pid_kp           = 0.7
  speed_pid_kd           = 0.4
  speed_pid_ki           = 0.05
  speed_pid_integral_limit = 0.07

  // Speed PID controller DEFAULT
  //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
}


<tag><iM300X>
//--------------------------------------------------------
// iM300X Config Block
	
ProcessConfig = iM300X
{
  AppTick    = 10
  CommsTick  = 10

	app_logging = true
	
	// Specific to iM300X
	min_thrust = -100
	rfactor    = 1.0
	max_rudder = 50
	
	// iM300 needs to know the IP address of the M300 front seat
	// computer, from the perspective of the PABLO. This is different
	// than the IP of the front seat computer for users logging in from
	// outside the vehicle.
#ifdef VNAME abe
	ip_addr    = 192.168.1.173
#elseifdef VNAME ben
	ip_addr    = 192.168.1.174
#elseifdef VNAME cal
	ip_addr    = 192.168.1.169
#elseifdef VNAME deb
	ip_addr    = 192.168.1.168
#elseifdef VNAME eve
	ip_addr    = 192.168.1.167
#elseifdef VNAME fin
	ip_addr    = 192.168.1.149
#elseifdef VNAME max
	ip_addr    = 192.168.1.148
#elseifdef VNAME ned
	ip_addr    = 192.168.1.147
#elseifdef VNAME oak
	ip_addr    = 192.168.1.146
#endif

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

  warn_bad_nmea_len  = false   
  warn_bad_nmea_form = false   
	
	stale_thresh = 15
	
	max_rudder  = 50
	max_thrust  = 100
	drive_mode  = normal
	ignore_msg  = $GPGLL, $GPGSV, $GPVTG, $GPZDA, $CPALT, $CPIMU, $CPNVR
	ignore_msg  = $GPGST, $CPRCM, $GNGLL, $GNGSV, $GNVTG, $GNZDA, $GLGSV, 
	ignore_msg  = $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_nave_msg_thresh parameter
  heading_source = auto    

	// threshold in seconds, default is 1.5
	stale_gps_msg_thresh = 3
	
	nav_prefix 			= NAV
	gps_prefix			= GPS
	compass_prefix	= COMPASS
}