#
# This file specifies programs for each device on the Multibeam vehicle
#
# Drop Weight
#
dropWeightServer -dev /dev/ser4
#
# Tailcone 
#
newTailConeServer -dev /dev/ser13
#simulator
#simTailCone
#
# Kearfott: Ins, Gps and Dvl
#
#trigger -serial /dev/ser2,115200,8,n,1
kearfottServer -dev /dev/ser10 -7khost 134.89.32.107 
kearfottDvlServer

#kearfottGpsServer
#/dev/ser9 monitors DVL Output
#
# Depth sensor
#
parosciServer -dev /dev/ser1 -7khost 134.89.32.107
#
# Rangefinder
#pa200LR -dev tcp:oas-xport:10001
#
# Fan and Environmental Sensors.  It talks through the PC-104 bus, not a 
# serial port.
#
fanServer
#
# CTD
#fastcatServer -dev tcp:xport-battery:10001
#fastcatServer -dev /dev/ser7
seabird25pServer -n seabird25P -serial /dev/ser7,115200,8,n,1

#SVP 70
#svpDriver -dev tcp:134.89.32.136:10002
#
# Battery
#
#
# Reson6046
#
reson6046Server
#
# EdgetechFSDW
#
edgetechFSDWServer

#
#gpsServer -r ashtech -dev /dev/ser8
#changed 2/4/2014 hjt ntp server now broadcasts GPS data to udp port 5050
gpsServer -r ashtech -dev udp:localhost:5050
#iridium beacon traffic can be monitored on /dev/ser5 2400,8,n,1
#benthos modem fun
benthosWithAvtrakServer -dev /dev/ser12
atsServer 9009
#ecoflDriver -dev /dev/ser14
#epiBattDriver -dev tcp:134.89.32.126:10001 
#epiBattDriver -noexit -dev tcp:134.89.32.129:10001
newBattDriver -n newBatt1 -dev tcp:134.89.32.131:10003
newBattDriver -n newBatt2 -dev tcp:134.89.32.140:10003

#adam 6017 driver for eH and light scattering sensor
#adam6017Server -dev tcp:134.89.32.151:502
#m3dmgx1 -dev /dev/ser6

##terrain aiding stuff
terrainAidServer 

#sonardyneServer -dev /dev/ser3
#cameraServer -dev tcp:134.89.32.42:10001
#echoSounderDriver -dev tcp:134.89.32.127:4040
#only run the dvl driver, not the server, because it will conflict with the
#kearfott's dvl server which is run above.
#dvlSideServer -dev /dev/ser9
delta_tServer
#cathxServer

# mbTrnRecvServer for interfacing with mbtrnpreprocess on the Reson computer
# Mapper1 Reson is 134.89.32.107, use default UDP port of 27000
# Use recv timeout of 0 ms (blocking read from mbtrnpreprocess)
# Pick at most 11 beams from the set received, evenly spaced.
#
# Point to Kent's emulated version for a test
#mbTrnRecvServer -m 134.89.33.103 -t 10000 -s 11
#RUN THIS ONE BELOW
mbTrnRecvServer -m 134.89.32.107 -t 10000 -s 11

# mbTrnUpd8Server for interfacing with mbtrnpreprocess update stream on the Reson computer
# Mapper1 Reson is 134.89.32.107, use default UDP port of 8000
# Use socket recv timeout of 0 ms (blocking read from mbtrnpreprocess)
#
#RUN THIS ONE BELOW
#mbTrnUpd8Server -m 134.89.32.107 -t 5000

# MbTrnRecv test program simply logs received mbtrnpreprocess data every 3 seconds
# after it kicks off mbTrnRecvServer. Good to run it to just to plot
# what mbtrnpreprocess is producing. Run either the server line above, or this line.
#
#mbTrnRecvTest -m 134.89.32.107 -t 0 -s 11

# mbTrnClient: a test client that connects to the embedded TRN server in mbtrnpp.
# Connects, queries for MLE and MMSE estimates, logs that data in a TerrainAid.log.1
# -a option loads config setting from terrainAid.cfg
# -p overrides the port number found in terrainAid.cfg
#
#mbTrnClient -a -p 28000   # Use a different port from the "standard" trn_server
#mbTrnClient -a

