//======================================
//1. 在phare配置块里面添加需要的变量和调试端端口配置
//2. Our define process中加入自定义程序
//3. For test process 中加入配合调试的程序

ServerHost = localhost
ServerPort = 9000
Simulator  = true

Community  = pi

MOOSTimeWarp = 1

LatOrigin  = 43.825300 
LongOrigin = -70.330400 
AltOrigin = 0

VehicleName = lauv-150

LogEnable = false
//LogDir = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/log/
LogDir = /home/ben/project/moos-ivp-pi/log/
AuvDataLog = auvData.mdat
MissionHistoryLog = missionHistory.txt
ClientCommandLog = clientCommand.txt
FaultLog = faultLog.txt
MotionControlLog = motionControl.txt

//llaOriginPath = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/Origin.json
llaOriginPath = /home/ben/project/moos-ivp-pi/setting/Origin.json

//------------------------------------------
// Antler configuration  block
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 200
  //============MOOS process=========================
  Run = MOOSDB		          @ NewConsole = false
  Run = pHelmIvP	          @ NewConsole = false
  Run = pNodeReporter	      @ NewConsole = false
  Run = uProcessWatch         @ NewConsole = false
  Run = pRealm                @ NewConsole = false 
  //Run = pShare                @ NewConsole = false
  Run = pMarineViewer	        @ NewConsole = false
  //===========Our define process====================
  Run = pBoardSupportComm	    @ NewConsole = false  
  Run = pTaskManagement             @ NewConsole = false 
  //Run = pMotionControler        @ NewConsole = false 
  Run = pSurfaceSupportComm   @ NewConsole = false
  Run = pDataManagement   @ NewConsole = false
  Run = pFaultHandle               @ NewConsole = false
  Run = pStateManagement            @ NewConsole = false  
  //===============For test process===================
  //Run = pEmulator               @ NewConsole = false
  Run = uSimMarine	          @ NewConsole = false
  Run = pMarinePID	          @ NewConsole = false

}

ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

  tiff_file            = forrest19.tif
	//tiff_file            = MIT_SP.tif
  vehicles_name_mode = names+depth //+shortmode


  set_pan_x            = -90
  set_pan_y            = -280
  zoom                 = 0.65
  vehicle_shape_scale  = 1.5
  hash_delta           = 50
  hash_shade           = 0.22
  hash_viewable        = true

  trails_point_size   = 1

	//op_vertex = x=-83, y=-47,    lwidth=1,lcolor=yellow,looped=true,group=moa
  //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa
  //op_vertex = x=94.6, y=-62.2,   lwidth=1,lcolor=yellow,looped=true,group=moa
  //op_vertex = x=58,   y=20,    lwidth=1,lcolor=yellow,looped=true,group=moa

  // Appcast configuration
  appcast_height       = 75
  appcast_width        = 30
  appcast_viewable     = true
  appcast_color_scheme = indigo
  nodes_font_size      = xlarge
  procs_font_size      = xlarge
  appcast_font_size    = large
  
  // datum_viewable = true
  // datum_size     = 18
  // gui_size = small

  // left_context[survey-point] = DEPLOY=true
  // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false
  // left_context[survey-point] = RETURN=false

  right_context[return] = DEPLOY=true
  right_context[return] = MOOS_MANUAL_OVERRIDE=false
  right_context[return] = RETURN=false

  scope  = RETURN
  scope  = WPT_STAT
  scope  = VIEW_SEGLIST
  scope  = VIEW_POINT
  scope  = VIEW_POLYGON
  scope  = MVIEWER_LCLICK
  scope  = MVIEWER_RCLICK

  //button_one = START # START=true
  button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"}
  //button_one = MOOS_MANUAL_OVERRIDE=false
  button_two = STOP # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"}
  //button_two = MOOS_MANUAL_OVERRIDE=true
  //button_three = FaultClear # ClearFalut = true
  //button_four = SendSecurityZone # SendSaftRules = true


  action  = MENU_KEY=deploy # DEPLOY = true # RETURN = false
  action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false
  action  = RETURN=true
  action  = UPDATES_RETURN=speed=1.4
  cmd = label=DEPLOY, var=DEPLOY,  sval=true,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE,  sval=false,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=AVOID,  sval=true,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=RETURN,  sval=false,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=STATION_KEEP,  sval=false,  receivers=all:$(VNAMES)

  cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES)
  cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES)

  cmd = label=PERMUTE, var=UTS_FORWARD,  dval=0,  receivers=shore

  cmd = label=STATION, var=STATION_KEEP,  sval=true,  receivers=all:$(VNAMES), color=pink

  cmd = label=LOITER-FAST, var=UP_LOITER,  sval=speed=2.8,  receivers=all:$(VNAMES)
  cmd = label=LOITER-SLOW, var=UP_LOITER,  sval=speed=1.4,  receivers=all:$(VNAMES)

  cmd = label=LOITER-CLOCKWISE-TRUE,  var=UP_LOITER, sval=clockwise=true,  receivers=all:$(VNAMES)
  cmd = label=LOITER-CLOCKWISE-FALSE, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES)
  cmd = label=LOITER-CLOCKWISE-BEST,  var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES)
}

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  behaviors  = alpha.bhv
  domain     = course:0:359:360
  domain     = speed:0:10:101
  domain     = depth:0:100:101

  park_on_allstop = false
  //park_on_allstop = true
  
}
ProcessConfig = uProcessWatch
{
  AppTick   = 4
  CommsTick = 4

  watch_all = true
  nowatch   = uPokeDB*
  nowatch   = uQueryDB*
  nowatch   = uXMS*
  nowatch   = uMAC*
  nowatch   = pShare*
  nowatch   = pRealm*
  nowatch   = pNodeReporter*
}

ProcessConfig = pNodeReporter
{
  AppTick    = 2
  CommsTick	 = 2

  platform_type = UUV 
  platform_color  = red
  platform_length = 4
}


ProcessConfig = pShare
{
  AppTick    = 2
  CommsTick  = 2
  //UUV 信息
  output = src_name = NODE_REPORT*, route = 10.25.0.160:8085
  output = src_name = NODE_REPORT*, route = 10.25.0.248:8085
  output = src_name = NODE_REPORT*, route = 10.25.0.165:8085
  //App 信息
  output = src_name = APPCAST*, route = 10.25.0.160:8085
  output = src_name = APPCAST*, route = 10.25.0.165:8085
  output = src_name = APPCAST*, route = 10.25.0.248:8085
  //路径点信息
  output = src_name = VIEW*, route = 10.25.0.160:8085
  output = src_name = VIEW*, route = 10.25.0.165:8085
  output = src_name = VIEW*, route = 10.25.0.248:8085
  //调试端输入端口
  input = route = localhost:8081
  input = route = localhost:8082
  input = route = localhost:8083
}

ProcessConfig = pTaskManagement
{
  AppTick   = 8
  CommsTick = 8
  //planConfigPath  = /home/zjk/Desktop/project/moos-ivp-pi/setting/PlanConfigure.json
  planConfigPath  = /home/ben/project/moos-ivp-pi/setting/PlanConfigure.json

}

ProcessConfig = pBoardSupportComm
{
   AppTick   = 5
   CommsTick = 5
}

ProcessConfig = uSimMarine
{
  AppTick	= 10
  CommsTick	= 10

  START_X       = 0
  START_Y       = 0
  START_SPEED   = 0
  START_HEADING = 180

  PREFIX        = NAV
}

ProcessConfig = pMarinePID
{
  AppTick    = 20
  CommsTick  = 20

  VERBOSE       = true
  DEPTH_CONTROL = false

  // Yaw PID controller
  YAW_PID_KP		 = 0.5
  YAW_PID_KD		 = 0.0
  YAW_PID_KI		 = 0.0
  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
  
}

ProcessConfig = pMotionControler
{
  AppTick    = 5
  CommsTick  = 5
  tardy_nav_thresh = 2.0
  tardy_helm_thresh = 2.0

  cheak_stalensee = true
  delta_freqency = 5
  
  //config_file = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/ControlParam.json
  config_file = /home/ben/project/moos-ivp-pi/setting/ControlParam.json
}

ProcessConfig = pEmulator
{
  AppTick   = 5
  CommsTick = 5
  matlab_host = 10.25.0.137
  matlab_port = 8085
  local_port = 8080
  prefix = NAV

  start_x = 10
  start_y = 9
  start_z = 1
  start_heading = 30
}

ProcessConfig = pDataManagement
{
  AppTick   = 4
  CommsTick = 4
}

ProcessConfig = pLogger
{
  AppTick   = 8
  CommsTick = 8

  AsyncLog = true
  FileTimeStamp   = 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 = REPORT @ 0 NOSYNC

  LogAuxSrc = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
  WildCardExclusionLog = true
}
ProcessConfig = pFaultHandle
{
   AppTick   = 4
   CommsTick = 4
}