//-------------------------------------------------
//  NAME: Michael Benjamin, MIT
//  FILE: meta_heron.moos
//-------------------------------------------------
ServerHost   = localhost
ServerPort   = $(MPORT)
Community    = heron
MOOSTimeWarp = 1

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

ProcessConfig = ANTLER
{
  MSBetweenLaunches = 400
  Run = MOOSDB       @ NewConsole = false
  Run = uSimHeron    @ NewConsole = false
  Run = uXMS         @ NewConsole = false
  Run = uTimerScript @ NewConsole = false
  //Run = pLogger      @ NewConsole = false
}

//------------------------------------------
// uSimHeron config block

ProcessConfig = uSimHeron
{
  AppTick    = 4
  CommsTick  = 4

	comms_type = $(COMMS_TYPE)
  port       = $(PORT)
	ip_addr    = $(IP_ADDR)
}

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

ProcessConfig = pLogger
{
  AppTick    = 4
  CommsTick  = 4

	AsyncLog = true

  Log  = M300_RAW_INBUFF @ 0 NOSYNC
  file = heron
  LogAuxSrc = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
}

//------------------------------------------
// uXMS config block

ProcessConfig = uXMS
{
  AppTick    = 4
  CommsTick  = 4

  VAR = DB_CLIENTS, NAV_LAT, NAX_LONG
	var = NAV_HEADING, NAV_SPEED
  VAR = USH_RAW_NMEA

	source = uSimHeron
}

//------------------------------------------
// uTimerScript

ProcessConfig = uTimerScript
{
  AppTick    = 4
  CommsTick  = 4

  event = var=NAV_SPEED, val=0,  time=0
  event = var=NAV_SPEED, val=0.2, time=5
  event = var=NAV_SPEED, val=0.4, time=10
  event = var=NAV_SPEED, val=0.6, time=15
  event = var=NAV_SPEED, val=0.8, time=20
  event = var=NAV_SPEED, val=0.6, time=25
  event = var=NAV_SPEED, val=0.4, time=30
  event = var=NAV_SPEED, val=0.4, time=35

  event = var=DESIRED_HEADING, val=0,  time=1
  event = var=DESIRED_HEADING, val=5,  time=2
  event = var=DESIRED_HEADING, val=10, time=3
  event = var=DESIRED_HEADING, val=15, time=4
  event = var=DESIRED_HEADING, val=20, time=5
  event = var=DESIRED_HEADING, val=30, time=6
  event = var=DESIRED_HEADING, val=35, time=7
  event = var=DESIRED_HEADING, val=40, time=8
  event = var=DESIRED_HEADING, val=35, time=9
  event = var=DESIRED_HEADING, val=30, time=10
  event = var=DESIRED_HEADING, val=25, time=11
  event = var=DESIRED_HEADING, val=20, time=12
  event = var=DESIRED_HEADING, val=15, time=13
  event = var=DESIRED_HEADING, val=10, time=14
  event = var=DESIRED_HEADING, val=5,  time=15
  event = var=DESIRED_HEADING, val=0,  time=16

  event = var=DESIRED_HEADING, val=355, time=17
  event = var=DESIRED_HEADING, val=350, time=18
  event = var=DESIRED_HEADING, val=345, time=19
  event = var=DESIRED_HEADING, val=340, time=2
  event = var=DESIRED_HEADING, val=335, time=21
  event = var=DESIRED_HEADING, val=330, time=22
  event = var=DESIRED_HEADING, val=325, time=23
  event = var=DESIRED_HEADING, val=320, time=24
  event = var=DESIRED_HEADING, val=325, time=25
  event = var=DESIRED_HEADING, val=330, time=26
  event = var=DESIRED_HEADING, val=335, time=27
  event = var=DESIRED_HEADING, val=340, time=28
  event = var=DESIRED_HEADING, val=245, time=29
  event = var=DESIRED_HEADING, val=350, time=30
  event = var=DESIRED_HEADING, val=355,  time=31

	reset_time = all-posted
	reset_max  =  nolimit
}