# This configuration file is Python code.  You should not
# need to change it; but if you do, you need to know that
# in Python, the *indentation matters*.

# The following will normally be empty lists, like this:
#
#ignore_ADCPs = []
#ignore_other_sensors = []
#
# But if you want to run with only a subset of the ADCPs
# and/or ancillary sensors that are defined in this file,
# you can list the ones you want to ignore like this:
#
ignore_ADCPs = ['os38',]
#ignore_other_sensors = ['GPS']
#
# In this case, you are listing the 'instrument' field of each
# ADCP or sensor you wish to exclude.
#

# ignore_ADCPs = []
ignore_other_sensors = []
use_publishers = True
#use_publishers = False


# 2-letter abbreviation for logging file prefix and constructing dbase name;
# read by procsetup.py
shipabbrev = "ex"

ADCPs = [
        { 'instrument'  :  'wh300',
          'setup'       :  'rdi_setup',
          'terminal'    :  'oswh_term',
          'defaultcmd'  :  'wh300_default.cmd',
          'commands'    :  ('CL0',),  # is required to make bottom track work
          'datatypes'   :  ('wh300',),
          'wakeup_baud' :  9600
        },
        { 'instrument'  :  'os38',
          'setup'       :  'rdi_setup',
          'terminal'    :  'oswh_term',
          'defaultcmd'  :  'os38_default.cmd',
#          'commands'    :  ('EA04500',),
         'commands'    :  ('EA04500', 'EC1500', 'EZ0011101'), #constant soundspeed
          'datatypes'   :  ('os38bb', 'os38nb'),
          'wakeup_baud' :  9600
        }


        ]


# Do not edit the next three lines:
common_opts = '-f %s -F -m 1 -H 2 ' % (shipabbrev,)
nb_opts =   '-rlE -c -I'          # raw data, write a log file, log errors
oswh_opts = '-rlE -c -O -I'       # -O for OS/WH data format
                                  # -c for checksum, -I to initiate pinging


sensors = [

        { 'instrument'  :  'wh300',
          'device'      :  'ttyUSB4',
          'baud'        :   38400,
          'format'      :  'binary',
          'subdir'      :  'wh300',
          'ext'         :  'raw',
          'opt'         :  oswh_opts,
          },



        { 'instrument'  :  'os38',       # Passive logging of OS
          'device'      :  'ttyUSB5',
          'baud'        :   38400,
          'format'      :  'binary',
          'subdir'      :  'os38',
          'ext'         :  'raw',
          'opt'         :  oswh_opts},


        { 'instrument'  :  'C-Nav',
          'device'      :  'ttyUSB3',
          'baud'        :   9600,
          'format'      :  'ascii',
          'subdir'      :  'cnav',
          'ext'         :  'gps',
          'strings'     :  ('',),  # all    #  ('$GPGGA',),     ### maybe this isn't the only message...
          'messages'    :  ('gps',),
          'opt'         :  '-tc'},


        { 'instrument'  :  'POS/MV',
          'device'      :  'ttyUSB6',
          'baud'        :   9600,
          'format'      :  'ascii',
          'subdir'      :  'posmv',
          'ext'         :  'pmv',
          'strings'     :  ('$GPGGA', '$PASHR'),   # use () for all
          'messages'    :  ('gps', 'pmv'),
          'opt'         :  '-tc'},

        { 'instrument'  :  'Gyro',
          'device'      :  'ttyUSB0',
          'baud'        :   4800,
          'format'      :  'ascii',
          'subdir'      :  'gyro',
          'ext'         :  'hdg',
          'strings'     :  ('$HEHDT',),
          'messages'    :  ('hdg',),
          'opt'         :  '-tc -s5'},    # comes in at 10Hz


]




## speedlog: enabled in /home/adcp/config/uhdas_cfg.py
speedlog_config = {
    'instrument'        : 'wh300',
    'serial_device'     : '/dev/ttyUSB1',
    'baud'              : 9600,
    'zmq_from_bin'      : "tcp://127.0.0.1:38010",
    'pub_addr'          : 'tcp://127.0.0.1:38020', #NO SPACES
#    'heading_offset'    : xx.x,    # get from EA_estimator.py
    'scale'             : 1.0,     # multiplies velocity measurement
    'bins'              : (1,3),   # zero-based; input to python slice()
    'navg'              : 5,       # pings to average
}



## this section describes...
publishers = [
               {
               'subdir'      :  'posmv',
               'pub_addr'    :  'tcp://127.0.0.1:38000', # uses this port #NO SPACES
               'sample_opts' :  '-tc -s60',
               'autopilot_msg':  '$GPGGA', # autopilot looks at this position msg
               },

             ]

#### DO NOT CHANGE the following ################

ADCPs = [A for A in ADCPs if A['instrument'] not in ignore_ADCPs]
sensors = [S for S in sensors if S['instrument'] not in ignore_ADCPs]
sensors = [S for S in sensors if S['instrument'] not in ignore_other_sensors]

from uhdas.uhdas import make_publishers

# append zmq_from_bin port to opts in appropriate ADCP sensor block
make_publishers.modify_sensors_for_speedlog(sensors, speedlog_config)

# substitute publishers into sensors for zmq publishing
if use_publishers==True:
    make_publishers.modify_sensors_and_publishers(sensors, publishers)