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

ProcessConfig = ANTLER
{
	MSBetweenLaunches 	= 200
	//ExecutablePath		= /home/ual/code/ecar-build/bin/
	
	Run = NIDAQ       @       NewConsole=false
	//Run = ScopeLogger       @       NewConsole=false
	Run = IMU_XSens       @       NewConsole=false
	Run = GenericSensor       @       NewConsole=false ~ GPS1
}

/////////////////// Lanza el scopelogger en el host ///////////////////////////////
ProcessConfig = ScopeLogger
{
SERVERHOST = 10.0.0.1
}
/////////////////// Lanza la DAQ ///////////////////////////////
ProcessConfig = NIDAQ
{
SERVERHOST = 10.0.0.1

	CommsTick = 500
	AppTick = 500
	
	# Number of tasks (each will run in a thread). Task indices are 0-based.
	# (Parameters below follow NI's DAQmx API notation)
	num_tasks  = 1

	# Channels, separated by commas if more than one.
	#  - "ai": Analog inputs
	#  - "ao": Analog outputs
	#  - "di": Digital inputs
	#  - "do": Digital inputs
	#  - "ci_period", 
	#    "ci_count_edges", "ci_pulse_width",
	#    "ci_lin_encoder", "ci_ang_encoder" : Counters & encoders (WARNING: NI says "a task can include only one counter input channel")
	#  - "co_pulses": Output digital pulses (WARNING: NI says "a task can include only one counter output channel")
	#
	# TASK 0 Analogicas
	task0.channels = ai  //, ao, di, do, ci_ang_encoder
	task0.taskLabel= analogicas     // Optional textual label to build the CObservation sensor label (default: task number)
	task0.samplesPerSecond = 1000 // Samples per second. Continuous (infinite) sampling is assumed.
	task0.samplesPerChannelToRead = 100  // The number of samples to grab at once from each channel.
	ask0.bufferSamplesPerChannel = 200000 // Increase if you have errors about " Onboard device memory overflow.(...)"
	 
	; Analog input channel params. 
	task0.ai.physicalChannel = Dev2/ai0:15
	task0.ai.physicalChannelCount = 16  // antes 8 (JLt) *IMPORTANT* This must be the total number of channels listed in "physicalChannel" (e.g. 4 for "Dev1/ai0:3")
	task0.ai.terminalConfig  =  DAQmx_Val_RSE // DAQmx_Val_Cfg_Default | DAQmx_Val_RSE | DAQmx_Val_NRSE | DAQmx_Val_Diff   // One of these strings
	task0.ai.minVal          = -10.0    // Volts. 
	task0.ai.maxVal          =  10.0    // Volts. Maximum allowed.

}
/////////////////// Lanza el IMU ///////////////////////////////

ProcessConfig = IMU_XSens
{
	SERVERHOST = 10.0.0.1

	CommsTick = 200
	AppTick = 200
	
	// If a portname is not provided, the first found device will be opened:
	//portname_LIN	= USB002:005
	//portname_WIN	= \\?\usb#vid_2639&pid_0013#037000a6#{fd51225c-700a-47e5-9999-b2d9031b88ed}
	//baudRate	    = 115200             ; Baudrate for communicating, 

	sensorLabel  		= XSensMTi300

	pose_x			= 0	// 3D position on the car (meters)
	pose_y			= 0
	pose_z			= 0
	pose_yaw		= 0	// Angles in degrees
	pose_pitch		= 0
	pose_roll		= 0

}
/////////////////// Lanza el GPS ///////////////////////////////
ProcessConfig = GPS1
{
	SERVERHOST = 10.0.0.1
	CommsTick = 10
	AppTick = 10
	
	driver        = CGPSInterface
	process_rate  = 10		// Hz
	sensorLabel     = GPS_OBS

	//COM_port_WIN = COM3
	COM_port_WIN = COM5 // PC-Industrial
	COM_port_LIN = ttyUSB2

	baudRate     = 9600   // The baudrate of the communications (typ. 4800 bauds)

	pose_x			= 0	   // Sensor position in the robot (meters)
	pose_y			= 0
	pose_z			= 0
	
}