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

#ifdef REGION pavlab
  // MIT Sailing Pavilion (PavLab)
  LatOrigin = 42.358436
  LongOrigin = -71.087448
#else
  // Forest Lake Maine
  LatOrigin  = 43.825300 
  LongOrigin = -70.330400 
#endif

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

ProcessConfig = ANTLER
{
  MSBetweenLaunches = 400
  Run = MOOSDB        @ NewConsole = false
  Run = uSimHeron     @ NewConsole = false
  Run = uXMS          @ NewConsole = false
  Run = uSimMarine    @ NewConsole = false
  Run = uProcessWatch @ 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
}

//------------------------------------------                                    
// uSimMarine config block                                                      

ProcessConfig = uSimMarine
{
  AppTick = 40
  CommsTick = 40

#ifdef REGION pavlab

 #ifdef VNAME abe
  start_x       = 10
  start_y       = 0
 #else
  start_x       = 20
  start_y       = 0
 #endif
 
#else
  start_x       = 92
  start_y       = -30
#endif

  start_speed   = 0
  start_heading = 180
  //drift_y       = -0.5

  prefix        = NAV
  turn_rate     = 60 // actually was 36 due to bug
  thrust_map    = 0:0, 40:1, 100:2
}

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

ProcessConfig = uXMS
{
  AppTick    = 4
  CommsTick  = 4

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

	display_source = true
	display_time = true
	
	source = uSimHeron
	source = uSimMarine
}

//------------------------------------------                                    
// uProcessWatch config block                                                   

ProcessConfig = uProcessWatch
{
  AppTick   = 4
  CommsTick = 4

  summary_wait = 5

  nowatch   = uXMS*
  nowatch   = uMAC*
  nowatch   = uPokeDB*
  watch_all = true
}