mpc.moos

//-------------------------------------------------
// NAME: M. Benjamin, MIT CSAIL
// FILE: alpha.moos
//-------------------------------------------------

ServerHost = localhost
ServerPort = 9000
Community  = alpha

MOOSTimeWarp = 1

// Forest Lake
LatOrigin  = 43.825300
LongOrigin = -70.330400

// MIT Sailing Pavilion (use this one)
// LatOrigin  = 42.358456
// LongOrigin = -71.087589

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

  Run = MOOSDB          @ NewConsole = false
  // Run = pLogger         @ NewConsole = false
  Run = pMarineViewer   @ NewConsole = false, ExtraProcessParams=one
  //Run = uProcessWatch   @ NewConsole = false
  Run = pNodeReporter   @ NewConsole = false
  Run = ./path_publisher.py       @ NewConsole = false
  Run = ./mpcMOOS.py       @ NewConsole = false

  //Run = ./plotter.py    @ NewConsole = false

  Run = ./vessel_sim.py @ NewConsole = false




  one = --size=800x600
}

ProcessConfig = plotter.py
{
}

ProcessConfig = mpcMOOS.py
{
}

ProcessConfig = path_publisher.py
{
}

ProcessConfig = vessel_sim.py
{
}


//------------------------------------------
// 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 = REPORT @ 0 NOSYNC

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

//------------------------------------------
// uProcessWatch

ProcessConfig = uProcessWatch
{
  AppTick   = 4
  CommsTick = 4

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


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

ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

  tiff_file            = forrest19.tif

  set_pan_x            = -3000
  set_pan_y            = 6000
  zoom                 = 0.04
  vehicle_shape_scale  = 50
  hash_delta           = 50
  hash_shade           = 0.4
  hash_viewable        = true

  trails_point_size   = 1

  //vcolor = alpha=dodgerblue

  // 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

  //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  = IVPHELM_UPDATE_RESULT
  scope  = VIEW_WEDGE
  scope  = MISSION
  scope  = SURVEY_DIST_TO_NEXT
  scope  = SURVEY_DIST_TO_PREV
  scope  = RETURN
  scope  = WPT_STAT
  scope  = VIEW_SEGLIST
  scope  = VIEW_POINT
  scope  = VIEW_POLYGON
  scope  = MVIEWER_LCLICK
  scope  = MVIEWER_RCLICK

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

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

ProcessConfig = pNodeReporter
{
  AppTick    = 2
  CommsTick	 = 2

  platform_type   = MOKAI
  platform_color  = green
  platform_length = 4
}