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

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

ProcessConfig = ANTLER
{
  MSBetweenLaunches = 400

  Run = MOOSDB        @ NewConsole = false
  Run = pLogger       @ NewConsole = false
  Run = pMarinePID    @ NewConsole = false
  Run = pHelmIvP      @ NewConsole = false
  Run = iM300         @ NewConsole = false
  Run = uProcessWatch @ NewConsole = false
  Run = pNodeReporter @ NewConsole = false
  Run = pMarineViewer @ NewConsole = false
  Run = uXMS          @ 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  = 100
	max_thrust  = 100
	drive_mode  = normal
}

//------------------------------------------
// pHelmIvP config block

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  behaviors    = payload.bhv
  verbose      = false
  domain       = course:0:359:360
  domain       = speed:0:4.5:26
}

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

ProcessConfig = uProcessWatch
{
  AppTick   = 4
  CommsTick = 4

  summary_wait = 5

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

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

  VERBOSE       = true
  DEPTH_CONTROL = false
  ACTIVE_START  = true

  // Yaw PID controller (Set for M300)
  YAW_PID_KP             = 2.0
  YAW_PID_KD             = 2.0
  YAW_PID_KI             = 0.0
  YAW_PID_INTEGRAL_LIMIT = 0.3

  // Speed PID controller      
  SPEED_PID_KP           = 1.0
  SPEED_PID_KD           = 0.0
  SPEED_PID_KI           = 0.0
  SPEED_PID_INTEGRAL_LIMIT = 0.07

  // Maximums             
  MAXRUDDER  = 100                                                       
  MAXTHRUST  = 100

  // A non-zero SPEED_FACTOR overrides use of SPEED_PID                         
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR                     
  //SPEED_FACTOR = 20                                                           
}

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

ProcessConfig = pLogger
{
  AppTick    = 4
  CommsTick  = 4

	AsyncLog = true

  Log = M300_RAW_NMEA @ 0 NOSYNC

  file = payload

  LogAuxSrc = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
}

//------------------------------------------
// pMarineViewer config block

ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

  tiff_file            = forrest19.tif

  set_pan_x            = -90
  set_pan_y            = -280
  zoom                 = 0.65
  vehicle_shape_scale  = 1.5
  hash_delta           = 50
  hash_shade           = 0.4
  hash_viewable        = true

  trails_point_size   = 1

  stale_report_thresh = 10
  stale_remove_thresh = 20

  // Appcast configuration
  appcast_height       = 75
  appcast_width        = 30
  appcast_viewable     = true
  appcast_color_scheme = indigo
  nodes_font_size      = medium
  procs_font_size      = medium
  appcast_font_size    = medium
  
  scope = PHELMIVP_PID
  scope = DB_UPTIME

  button_one = DEPLOY # DEPLOY=true
  button_one = MOOS_MANUAL_OVERRIDE=false # RETURN=false
  button_two = STATION:T # STATION=true
  button_three = STATION:F # STATION=falSE

  button_four = REVERSE # WPT_UPDATE=order=toggle
}

//------------------------------------------
// 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
}

//------------------------------------------ 
// pNodeReporter config block

ProcessConfig = pNodeReporter
{
  AppTick   = 2
  CommsTick = 2
	
  platform_type   = KAYAK
  platform_length = 4
}