//------------------------------------------
// NAME: M. Benjamin, MIT
// FILE: alpha.moos
//------------------------------------------
ServerHost = localhost		
ServerPort = 9000
Community  = alpha
MOOSTimeWarp = 1
// MIT Sailing Pavilion
LatOrigin  = 42.358456 
LongOrigin = -71.087589

//------------------------------------------
// Antler configuration  block
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 200

  Run = MOOSDB        @ NewConsole = false
  Run = pLogger       @ NewConsole = false
  Run = pMarinePIDV22 @ NewConsole = false
  Run = pHelmIvP      @ NewConsole = false
  Run = pMarineViewer @ NewConsole = false
  Run = uProcessWatch @ NewConsole = false
  Run = pNodeReporter @ NewConsole = false
  Run = pObstacleMgr  @ NewConsole = false
  Run = uSimMarineV22 @ NewConsole = false
}

//------------------------------------------
// uProcessWatch config block
ProcessConfig = uProcessWatch
{
  AppTick   = 4
  CommsTick = 4

  summary_wait = 5

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

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

ProcessConfig = pLogger
{
  AppTick   = 8
  CommsTick = 8

  AsyncLog = true

  // For variables that are published in a bundle on their first post,
  // explicitly declare their logging request

  Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC
  Log = BHV_WARNING @ 0 NOSYNC

  LogAuxSrc = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
  WildCardExclusionLog = true
}

//------------------------------------------
// uSimMarineV22 config block

ProcessConfig = uSimMarineV22
{
  AppTick	= 4
  CommsTick	= 4

	app_logging = true
	
  start_x       = 180
  start_y       = -110
  start_heading = 270
  start_speed   = 0
  max_deceleration = 0.1
  prefix        = NAV

	//max_rudder_degs_per_sec = 1

  //turn_rate   = 15
  turn_rate     = 70
  thrust_map    = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5
  thrust_reflect = true
}

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

ProcessConfig = pHelmIvP
{
  AppTick    = 2
  CommsTick  = 2

	app_logging = true
	
  term_report_interval = 0
  bhv_dir_not_found_ok = true

  behaviors  = alpha.bhv
  domain     = course:0:359:360
  domain     = speed:0:4:21
}

//------------------------------------------
// pMarinePIDV22 config block

ProcessConfig = pMarinePIDV22
{
  AppTick    = 20
  CommsTick  = 20

  verbose       = true
  depth_control = false

  // SIM_INSTABILITY = 20

  // Yaw PID controller
  yaw_pid_kp		 = 1.2
  yaw_pid_kd		 = 0.0
  yaw_pid_ki		 = 0.3
  yaw_pid_integral_limit = 0.07

  // 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
}

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

ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

  //tiff_file            = forrest19.tif
  tiff_file            = MIT_SP.tif

  set_pan_x            = -130
  set_pan_y            = -140
  zoom                 = 0.9

  vehicle_shape_scale  = 1.5
  hash_delta           = 50
  hash_shade           = 0.4
  hash_viewable        = false

  trails_point_size    = 1

  // 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    = small
  
  scope  = VIEW_POINT
  scope  = RETURN
  scope  = WPT_STAT
  scope  = VIEW_SEGLIST

  button_one = DEPLOY # DEPLOY=true
  button_one = MOOS_MANUAL_OVERRIDE=false # RETURN=false
  button_two = RETURN # RETURN=true
}

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

ProcessConfig = pNodeReporter
{
  AppTick    = 2
  CommsTick	 = 2

  platform_type   = kayak
  platform_length = 4
}

//------------------------------------------
// pObstacleMgr Config Block

ProcessConfig = pObstacleMgr
{
  AppTick   = 4 
  CommsTick = 4 

  given_obstacle = format=radial, x=65, y=-110, pts=7, radius=10, snap=1, label=one, label_color=off

  obstacles_color = yellow
  post_view_polys = false
  given_max_duration = 1000
}