sensor {
    gpsd-client {
        gsd {
            io = "none";
            channel = "GPSD";
        }
        x_vs = [1,2,3,4,5,6];
        x_lr = [0,0,0,0,0,0];
	    
        gpsddev = "/dev/ttyS16";

    } #ppsboard-gps

    os-compass {
        gsd {
            io = "serial";
            device = "/dev/ttyS4";
            baud = 115200;
            parity = "8N1";
            channel = "OS_COMPASS";
        }
        x_vs = [1,2,3,4,5,6];
        x_lr = [0,0,0,0,0,0];
    } #os-compass

    modem {
        gsd {
            io = "serial";
            device = "/dev/ttyS6";
            baud = 19200;
            parity = "8N1";
            channel = "MODEM";
        }
        x_vs = [1,2,3,4,5,6];
        x_lr = [0,0,0,0,0,0];
    } #modem

    dstar-ssp1 {
        gsd {
            io = "serial";
            device = "/dev/ttyS8";
            baud = 9600;
            parity = "8N1";
            channel = "DESERT_STAR";
        }
        x_vs = [1,2,3,4,5,6];
        x_lr = [0,0,0,0,0,0];
    } #desert-star

    ms-gx1 {
        gsd {
            io = "serial";
            device = "/dev/ttyS10";
            baud = 115200;
            parity = "8N1";
            channel = "MICROSTRAIN";
        }
        x_vs = [0,0,0,0,0,180];
        x_lr = [0,0,0,0,0,0];
    } #microstrain

    rdi {
        gsd {
            io = "serial";
            device = "/dev/ttyS14";
            baud   = 115200;
            parity = "8N1";
            channel = "RDI";
        }
        x_vs = [0,0,0,180,0,135];
        x_lr = [0,0,0,0,0,0];

        # command configuration file
        config = "../config/rdi/ExplorerDVL.txt";

        # Instrument Transformation Matrix from PS3 command for serial number 152
        tmatrix = [ 1.004916, -1.001706,  0.007654, -0.007825,
                    0.010431, -0.009500, -1.002873,  1.001529,
                    0.286304,  0.290613,  0.288296,  0.288413,
                   -0.707750, -0.710152,  0.708423,  0.710009];
    } #rdi

    kvh-dsp3000 {
        gsd {
            io = "serial";
            device = "/dev/ttyS18";
            baud = 38400;
            parity = "8N1";
            channel = "KVH";
        }
        x_vs = [1,2,3,4,5,6];
        x_lr = [0,0,0,0,0,0];
    } #kvh

    cam1 {
        uid = 36129; #GC1380M
        channel = "CAM1";
        attfile = "../config/prosilica/attfile.txt";
        x_vs = [1,2,3,4,5,6];
        x_lr = [0,0,0,0,0,0];
        PvAttributes {
            FrameRate = "1";
            FrameStartTriggerMode = "FixedRate";
            #FrameStartTriggerMode = "SyncIn2";
            ExposureMode = "Auto";
            ExposureValue = "1000";
            GainMode = "Auto";
            GainValue = "0";
            PixelFormat = "Mono16";
            PacketSize = "1500";
            MulticastEnable = "Off";
        }
    } #cam1

    cam2 {
        uid = 37108; #GC1380C
        channel = "CAM2";
        attfile = "../config/prosilica/attfile.txt";
        x_vs = [1,2,3,4,5,6];
        x_lr = [0,0,0,0,0,0];
        PvAttributes {
            FrameRate = "1.0";
            FrameStartTriggerMode = "FixedRate";
            ExposureMode = "Manual";
            ExposureValue = "10000";
            GainMode = "Manual";
            GainValue = "0";
            PixelFormat = "Bayer16";
            PacketSize = "1500";
            MulticastEnable = "Off";
        }
    } #cam2

} #sensors

remote-helm {
    os-conduit {
        gsd {
            io = "serial";
            device = "/dev/ttyS0";
            baud = 57600;
            parity = "8N1";
            channel = "OS_CONDUIT";
        }
    } #os-conduit
}

hotel {
    easydaq {
        device = "/dev/ttyS12";
        
        relay1 {
            label = "kvh";
            group = "sensors";
            state = "off";
        }
        relay2 {
            label = "cam2";
            group = "cameras";
            state = "off";
        }
        relay3 {
            label = "cam1";
            group = "cameras";
            state = "off";
        }
        relay4 {
            label = "microstrain";
            group = "sensors";
            state = "off";
        }
        relay5 {
            label = "rdi";
            group = "sensors";
            state = "off";
        }
        relay6 {
            label = "relay6";
            group = "empty";
            state = "off";
        }
        relay7 {
            label = "relay7";
            group = "empty";
            state = "off";
        }
        relay8 {
            label = "umodem";
            group = "comms";
            state = "off";
        }
    } #easydaq
} #hotel

