skills/moos-ivp-eval-mission-builder/assets/eval-single-vehicle/meta_vehicle.moos

//-------------------------------------------------
// FILE: meta_vehicle.moos
// NAME: MOOS-IvP Skills
//-------------------------------------------------

ServerHost = localhost
ServerPort = $(MOOS_PORT)
Community  = $(VNAME)

#include plug_origin_warp.moos

//----------------------------------------------------
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB         @ NewConsole = false
  Run = pRealm         @ NewConsole = false
  Run = uProcessWatch  @ NewConsole = false
  Run = uLoadWatch     @ NewConsole = false
  Run = pShare         @ NewConsole = false
  Run = pHostInfo      @ NewConsole = false
  Run = pLogger        @ NewConsole = false
  Run = uSimMarineV22  @ NewConsole = false
  Run = pMarinePIDV22  @ NewConsole = false
  Run = pNodeReporter  @ NewConsole = false
  Run = uFldNodeBroker @ NewConsole = false
  Run = pHelmIvP       @ NewConsole = false
}

//----------------------------------------------------
ProcessConfig = pShare
{
  AppTick   = 4
  CommsTick = 4

  input = route = localhost:$(PSHARE_PORT)
}

//----------------------------------------------------
ProcessConfig = pRealm
{
  AppTick   = 4
  CommsTick = 4

  relcast_interval = 0.8
  summary_interval = 2.0
}

//----------------------------------------------------
ProcessConfig = uProcessWatch
{
  AppTick   = 1
  CommsTick = 1

  allow_retractions = true
  watch_all = true
  nowatch = uMAC*
  nowatch = uXMS*
  nowatch = uPokeDB*
  nowatch = uQueryDB*
  summary_wait = 12
}

//----------------------------------------------------
ProcessConfig = uLoadWatch
{
  AppTick   = 1
  CommsTick = 1

  thresh = app=pHelmIvP,      gapthresh=3
  thresh = app=pHostInfo,     gapthresh=5
  thresh = app=any,           gapthresh=2.0
  thresh = app=uSimMarineV22, gapthresh=3

  breach_trigger = 5
}

//----------------------------------------------------
ProcessConfig = pHostInfo
{
  AppTick   = 1
  CommsTick = 1

  default_hostip_force = $(IP_ADDR=localhost)
}

//----------------------------------------------------
ProcessConfig = pLogger
{
  AppTick       = 5
  CommsTick     = 5
  File          = LOG_$(VNAME)
  PATH          = ./
  AsyncLog      = true
  FileTimeStamp = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}

//----------------------------------------------------
ProcessConfig = uSimMarineV22
{
  AppTick   = 10
  CommsTick = 10

  start_pos = $(START_POS)
  prefix    = NAV

  max_speed        = $(MAX_SPD)
  max_deceleration = 0.1
  turn_rate        = 95
  turn_spd_loss    = 0.6

  post_des_thrust = DESIRED_THRUSTX
  post_des_rudder = DESIRED_RUDDERX
}

//----------------------------------------------------
ProcessConfig = pMarinePIDV22
{
  AppTick   = 10
  CommsTick = 10

  verbose       = true
  depth_control = false
  active_start  = true

  yaw_pid_kp = 1.2
  yaw_pid_kd = 0.1
  yaw_pid_ki = 0.3
  yaw_pid_integral_limit = 0.07

  speed_pid_kp = 1.0
  speed_pid_kd = 0.0
  speed_pid_ki = 0.0
  speed_pid_integral_limit = 0.07

  maxrudder    = 100
  maxthrust    = 100
  speed_factor = 20
}

//----------------------------------------------------
ProcessConfig = pNodeReporter
{
  AppTick   = 2
  CommsTick = 2

  platform_color = $(COLOR)
  vessel_type    = kayak
}

//----------------------------------------------------
ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

  try_shore_host = pshare_route=$(SHORE_IP):$(SHORE_PSHARE)

  bridge = src=NODE_REPORT_LOCAL, alias=NODE_REPORT
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE
  bridge = src=VIEW_POINT
  bridge = src=VIEW_SEGLIST
  bridge = src=VIEW_POLYGON
  bridge = src=VIEW_CIRCLE
  bridge = src=APPCAST
  bridge = src=WPT_DONE
  bridge = src=WPT_HIT
  bridge = src=CYCLE_HIT
  bridge = src=WAYPOINT_END
  bridge = src=WPT_STAT
  bridge = src=WPT_INDEX
  bridge = src=CYCLE_INDEX
  bridge = src=WPT_DIST_TO_NEXT
  bridge = src=BHV_ERROR
}

//----------------------------------------------------
ProcessConfig = pHelmIvP
{
  AppTick   = 4
  CommsTick = 4

  behaviors = targ_$(VNAME).bhv
  verbose   = false

  domain = course:0:359:360
  domain = speed:0:$(MAX_SPD):21
}