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

// Forest Lake, Maine
LatOrigin  = 43.825300
LongOrigin = -70.330400
	
//------------------------------------------
// Antler configuration  block

ProcessConfig = ANTLER
{
  MSBetweenLaunches = 400

  Run = MOOSDB       @ NewConsole = false
  Run = iM300        @ NewConsole = false
  Run = uXMS         @ NewConsole = false
  Run = uTimerScript @ NewConsole = false
  //Run = pLogger      @ NewConsole = false
}

//------------------------------------------
// iM300 config block

ProcessConfig = iM300
{
  AppTick    = 4
  CommsTick  = 4

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

	stale_thresh = 15
	
	max_rudder  = 50
	max_thrust  = 100
	drive_mode  = normal

	max_appcast_events = 8
//	max_appcast_run_warnings = 10
}

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

ProcessConfig = pLogger
{
  AppTick    = 4
  CommsTick  = 4

	AsyncLog = true

  Log = M300_RAW_INBUFF @ 0 NOSYNC

  file = payload

  LogAuxSrc = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
}

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

ProcessConfig = uXMS
{
  AppTick    = 4
  CommsTick  = 4

  display_source = true
	display_time = true
	
  VAR = DB_CLIENTS, NAV_X, NAV_Y, NAV_HEADING, NAV_SPEED
  VAR = PYDIR_THRUST_L, PYDIR_THRUST_R
  VAR = IM300_RAW_NMEA, IM300_ALL_NMEA
	VAR = DESIRED_THRUST, DESIRED_RUDDER

	source = iM300
}

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

ProcessConfig = uTimerScript
{
  AppTick    = 4
  CommsTick  = 4

	paused = false

	event = var=IVPHELM_ALLSTOP, val=clear, time=0
	
  event = var=DESIRED_THRUST, val=0,  time=0
  event = var=DESIRED_THRUST, val=10, time=5
  event = var=DESIRED_THRUST, val=20, time=10
  event = var=DESIRED_THRUST, val=30, time=15
  event = var=DESIRED_THRUST, val=40, time=20
  event = var=DESIRED_THRUST, val=30, time=25
  event = var=DESIRED_THRUST, val=20, time=30
  event = var=DESIRED_THRUST, val=10, time=35

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

  event = var=DESIRED_RUDDER, val=-5,  time=17
  event = var=DESIRED_RUDDER, val=-10, time=18
  event = var=DESIRED_RUDDER, val=-15, time=19
  event = var=DESIRED_RUDDER, val=-20, time=2
  event = var=DESIRED_RUDDER, val=-30, time=21
  event = var=DESIRED_RUDDER, val=-35, time=22
  event = var=DESIRED_RUDDER, val=-40, time=23
  event = var=DESIRED_RUDDER, val=-35, time=24
  event = var=DESIRED_RUDDER, val=-30, time=25
  event = var=DESIRED_RUDDER, val=-25, time=26
  event = var=DESIRED_RUDDER, val=-20, time=27
  event = var=DESIRED_RUDDER, val=-15, time=28
  event = var=DESIRED_RUDDER, val=-10, time=29
  event = var=DESIRED_RUDDER, val=-5,  time=30
  event = var=DESIRED_RUDDER, val=0,   time=31

	reset_time = all-posted
	reset_max  =  nolimit
}