/////////////////////////////////////////////
// Antler configuration  block

ProcessConfig = ANTLER
{
	MSBetweenLaunches 	= 200

	
	//crucial processes
	Run = MOOSDB        			@  NewConsole = false	
	
//	Run = pRawlog-grabber			@  NewConsole = false	
//	Run = iRobotGUI2010     		@  NewConsole = false
//	Run = pMobileRobot_Pioneer 		@  NewConsole = false
	Run = pMCENose     				@  NewConsole = true
//	Run = pGenericSensor	    	@  NewConsole = true ~ LASER_SICK
//	Run = pGenericSensor			@  NewConsole = true ~ LASER_BACK
//	Run = pNeck       				@  NewConsole = false
//	Run = pGasSourceLocalization	@  NewConsole = true
//	Run = pJoystickControl     		@  NewConsole = false

	
	// MOOS-Scope: Visualizer of MOOS-DB	

}

ProcessConfig = pRawlog-grabber
{
	AppTick = 15			//Hz
	CommsTick = 15			//Hz
}


ProcessConfig = pMCEnose
{
	AppTick = 10 			//Hz
	CommsTick = 10			//Hz
	
	//MCE-nose parameters
	num_chambers = 4				//Number of chambers
	num_sensors_chamber = 7			//Number of sensors on each cahmber
	strategy = 1					//Switching strategy 0->NoSwitching, 1->Periodic, 2->Adaptive, 3->Calibration, 4->enose+MCEnose
	sensorID = 0x2602 				//Sensor ID to be monitored for the Switching strategy --> 0 = mean
	
	minActiveTime = 20				//Minimun time [sec] a chamber must be active (odor flooded). In periodic Switching this is the Period
	decayValue = 0.1				//[Adaptive switching] Decay in the active chamber readings (%) to consider a decay phase --> Switch to other chamber (maxValue - maxValue*decayPercent/100.0 )
	min_diff = 0.5					//Minimum reading difference between the actual AC and the candidate AC, to allow switching
	delay = 1.8						//(seconds)
	
	graphics = 2					//(0 = Nothing to display ,1 = display only MCE-output, 2 = Display everything)
	display_sensors = 1				//0 = Display only sensorID readings, 1= display all sensors in the chamber
	graphics_min_x = -20			//[graphics =1] min value on the X axis plot (time)
	graphics_max_x = 220			//[graphics =1] max value on the X axis plot (time)
		
	//MOSmodel parameters
		useMOSmodel = false			//Indicates if the MOSmodel must be used withing the smelling task
		a_rise = 0					//[useMOSmodel]Constants for the linear fitting to the rise and decay time constants
		b_rise = 2.5
		a_decay = 3.6
		b_decay = 10.3		
		winNoise_size = 15	    	//[useMOSmodel] size of the noise filtering window (smooth)
		decimate_value = 3			//[useMOSmodel] decimation value after noise filtering (use 1 to dont apply decimation)
		save_maplog = false			//[useMOSmodel] saves to log file for matlab visualization
		
		
	//Connection
	driver = CBoardENoses
	process_rate = 5 //Hz
	sensorLabel = MCEnose
	USB_serialname = ENOSE001
	
	COM_port_WIN = COM3
	COM_baudRate = 38400

	//3D position (in meters) of the eNose
	enose_poses_x = 0.5 
	enose_poses_y = 0.0
	enose_poses_z = 0.15

	//3D pose angles (in degrees) of the eNose
	enose_poses_yaw = 0
	enose_poses_pitch = 0
	enose_poses_roll = 0

	
}

ProcessConfig = LASER_SICK
{
	CommsTick = 100
	AppTick = 200
	
	driver			= CSickLaserSerial
	process_rate	= 90		// Hz

	sensorLabel  	= LASER1
	pose_x			= 0.05	; Laser range scaner 3D position in the robot (meters)
	pose_y			= 0
	pose_z			= 0.29
	pose_yaw		= 0	; Angles in degrees
	pose_pitch		= 0
	pose_roll		= 180

	mm_mode 		= 0   	// 1: millimeter mode, 0:centimeter mode (Default=0)

	COM_port_WIN	= COM4
	COM_port_LIN	= ttyUSB0

	COM_baudRate 	= 500000
	resolution 		= 100          	// 100=1 deg, 50=0.5deg, 25=0.25 deg
	FOV				= 180			// 180 or 100 deg

	exclusionAngles1_ini = 70  // Deg
	exclusionAngles1_end =-70  // Deg
	
	// Optional: Exclusion zones to avoid the robot seeing itself(e-nose):
	exclusionZone1_x = 0.60 0.40 0.40 0.60
	exclusionZone1_y = 0.25 0.25 -0.25 -0.25
}

ProcessConfig = LASER_BACK
{
	CommsTick = 100
	AppTick = 200

	driver			= CHokuyoURG
	process_rate		= 90		; Hz
	grab_decimation		= 3

	sensorLabel  	= LASER2
	pose_x			= -0.25	; Laser range scaner 3D position in the robot (meters)
	pose_y			= 0
	pose_z			= 0.43

	pose_yaw		= 180	; Angles in degrees
	pose_pitch		= 0
	pose_roll		= 0

	COM_port_WIN	= COM11
	COM_port_LIN	= ttyACM_FRONT

	// Optional: Exclusion zones to avoid the robot seeing itself:
	//exclusionZone1_x = -0.0.20 0.30 0.30 0.20
	//exclusionZone1_y = 0.20 0.30 0.30 0.20

	// Optional: Exclusion zones to avoid the robot seeing itself:
	exclusionAngles1_ini = 100  // Deg
	exclusionAngles1_end =-100  // Deg

}

ProcessConfig = pMobileRobot_Pioneer
{
	CommsTick = 10
	AppTick = 10
	driver				= CActivMediaRobotBase
	robotPort_WIN 		= COM12
	robotPort_LIN 		= /dev/ttyUSB0
	robotBaud			= 115200
	enableSonars        	= 0     ; 0:Disabled (default), 1: Enabled

}

ProcessConfig = pJoystickControl
{
	CommsTick = 15
	AppTick = 10

	max_v	= 0.1	// Maximum linear speed (m/s)
	max_w	= 15	// Maximum angular speed (deg/s)
}

ProcessConfig = iRobotGUI2010
{
	CommsTick = 4
	AppTick = 4

	// The 3D model of the robot (empty: default model)
	robot_3DS_model_file = ./mapir_sancho_robot.3ds.gz

}

ProcessConfig = pNeck
{
	CommsTick = 4
	AppTick = 4

	filterDepth = 10
	truncateFactor = 0.99
}

ProcessConfig = pGasSourceLocalization
{
	CommsTick = 8
	AppTick = 8
	
	behavior = 0		//o = map , 1 = random walk, 2 = gas search
	secure_distance = 0.7
	sensorID = 9282
	umbralDetec = 0.8
	max_v	= 0.1	// Maximum linear speed (m/s)
	max_w	= 15	// Maximum angular speed (deg/s)
	angle_inc_moving = 2.0
	angle_inc_stopped = 0.5
}