// Alder mission file
ServerHost = localhost
ServerPort = 9000
Community  = auv150
MOOSTimeWarp = 1

LatOrigin = $(LatOrigin)
LongOrigin = $(LongOrigin)

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

  Run = MOOSDB        @ NewConsole = false
  Run = pNodeReporter	@ NewConsole = false
  //Run = pLogger     @ NewConsole = false
  Run = uProcessWatch @ NewConsole = false
  Run = pHelmIvP      @ NewConsole = false
  Run = pAUV150       @ NewConsole = false
  Run = pShare        @ NewConsole = false
}

//------------------------------------------
// pShare config block

ProcessConfig = pShare
{
  AppTick    = 10
  CommsTick  = 10
  //UUV 信息
  //output = src_name = NODE_REPORT*, route = 192.168.137.7:8085
  //App 信息
  //output = src_name = APPCAST*, route = 192.168.137.7:8085
  //路径点信息
  //output = src_name = VIEW*, route = 192.168.137.7:8085

  output = src_name = *, route = 192.168.1.100:8085
  //调试端输入端口
  input = route = localhost:8082
}

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

ProcessConfig = uProcessWatch
{
  AppTick   = 4
  CommsTick = 4

  summary_wait = 5

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

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

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  Behaviors  = gly_1.bhv
  Verbose    = quiet
  Domain     = course:0:359:360
  Domain     = speed:0:4:21
  Domain     = depth:0:100:101

  //IVP_BEHAVIOR_DIR = ../../lib

  ok_skew = any
  start_in_drive = false
}

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

ProcessConfig = pNodeReporter
{
  AppTick	  = 2
  CommsTick	= 2

  platform_length = 2              // meters
  //platform_beam   = 0.2             // meters
  platform_type   = auv
  platform_color  = dodger_blue
  //vessel_type = auv
}

//------------------------------------------
// pAUV150 config block

ProcessConfig = pAUV150
{
  AppTick   = 10
  CommsTick = 10

  server_host = $(server_host)
  LatOrigin = $(LatOrigin)
  LongOrigin = $(LongOrigin)

  ControlFrequency = 10
}

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

ProcessConfig = pLogger
{
  AppTick       = 10
  CommsTick     = 10
  
  File          = XLOG_SHORESIDE
  PATH          = ./
  SyncLog       = true @ 0.2
  AsyncLog      = true
  FileTimeStamp = true

  LogAuxSrc     = true

  // Log it all!!!!!
  WildCardLogging = true 

  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}