<reponame>cuauv/software
from mission.constants.missions import Gate, Path
from mission.constants import teagle

from conf.vehicle import is_mainsub

# HYDROPHONES_PINGER_DEPTH = 4.7

NONSURFACE_MIN_DEPTH = 0.5 # if is_mainsub else 1.5

# Note: These values are copied straight from the Teagle configuration.
# They need to be updated for Transdec!!

# gate = Gate(
#     depth=2.0,
#     gate_width_threshold=0.4,
#     charge_dist=16 if is_mainsub() else 12
# )

path = Path(
    depth=1.0,
    search_forward=6 if is_mainsub else 2,
    search_stride = 10 if is_mainsub else 8,
    search_right_first=True,
    search_speed=0.1,
    post_dist=2.5,
    failure_back_up_dist=0.5 if is_mainsub else 0.1,
    failure_back_up_speed=0.2 if is_mainsub else 0.1,
)
#
#dice = Dice(
#    depth=3.3,
#    max_depth=4,
#    search_forward=4,
#    search_stride=8,
#    search_speed=0.2,
#    min_dot_radius=0.04,
#    ram_dist=1.5,
#    ram_speed=0.16,
#    rammed_back_up_timeout=20,
#    lost_sight_back_up_timeout=5,
#    search_default_zero_timeout=60,
#)
#
#highway = Highway(
#    high_depth=1.6,
#    low_depth=1.6,
#    dist=6 if is_mainsub() else 2,
#    speed=0.4 if is_mainsub() else 0.2,
#)
#
#track = Track(
#    depth=2.2 if is_mainsub() else 2.2,
#    slow_down_dist=5,
#    max_speed=0.3 if is_mainsub() else 0.2,
#    min_speed=0.1,
#    vision_frame_period=0.5,
#)
#
#roulette = Roulette(
#    depth_search=1.5,
#    depth_realign=3.2,
#    depth_drop=3.9,
#    heading_offset=-30,
#)
#
#cash_in = CashIn(
#    approach_funnel_depth=0.5,
#    drop_approach_dist=0.2,
#    # (right, left)
#    drop_dvl_forward_correct_dist=(0.1, -0.13),
#    drop_heading_correct=(0, -7),
#    pick_up_both_depth=2.0,
#    pick_up_search_depth_1=2.5,
#    pick_up_search_depth_2=3.0,
#    pick_up_search_depth_3=3.5,
#    pick_up_start_follow_depth=4.5,
#    attempt_surface_depth=-1,
#    attempt_funnel_depth=0,
#)

from mission.constants.missions import Gate, Path
from mission.constants import teagle

from conf.vehicle import is_mainsub

# HYDROPHONES_PINGER_DEPTH = 4.7

NONSURFACE_MIN_DEPTH = 0.5 # if is_mainsub else 1.5

# Note: These values are copied straight from the Teagle configuration.
# They need to be updated for Transdec!!

# gate = Gate(
#     depth=2.0,
#     gate_width_threshold=0.4,
#     charge_dist=16 if is_mainsub() else 12
# )

path = Path(
    depth=1.0,
    search_forward=6 if is_mainsub else 2,
    search_stride = 10 if is_mainsub else 8,
    search_right_first=True,
    search_speed=0.1,
    post_dist=2.5,
    failure_back_up_dist=0.5 if is_mainsub else 0.1,
    failure_back_up_speed=0.2 if is_mainsub else 0.1,
)
#
#dice = Dice(
#    depth=3.3,
#    max_depth=4,
#    search_forward=4,
#    search_stride=8,
#    search_speed=0.2,
#    min_dot_radius=0.04,
#    ram_dist=1.5,
#    ram_speed=0.16,
#    rammed_back_up_timeout=20,
#    lost_sight_back_up_timeout=5,
#    search_default_zero_timeout=60,
#)
#
#highway = Highway(
#    high_depth=1.6,
#    low_depth=1.6,
#    dist=6 if is_mainsub() else 2,
#    speed=0.4 if is_mainsub() else 0.2,
#)
#
#track = Track(
#    depth=2.2 if is_mainsub() else 2.2,
#    slow_down_dist=5,
#    max_speed=0.3 if is_mainsub() else 0.2,
#    min_speed=0.1,
#    vision_frame_period=0.5,
#)
#
#roulette = Roulette(
#    depth_search=1.5,
#    depth_realign=3.2,
#    depth_drop=3.9,
#    heading_offset=-30,
#)
#
#cash_in = CashIn(
#    approach_funnel_depth=0.5,
#    drop_approach_dist=0.2,
#    # (right, left)
#    drop_dvl_forward_correct_dist=(0.1, -0.13),
#    drop_heading_correct=(0, -7),
#    pick_up_both_depth=2.0,
#    pick_up_search_depth_1=2.5,
#    pick_up_search_depth_2=3.0,
#    pick_up_search_depth_3=3.5,
#    pick_up_start_follow_depth=4.5,
#    attempt_surface_depth=-1,
#    attempt_funnel_depth=0,
#)
# HYDROPHONES_PINGER_DEPTH = 4.7 # if is_mainsub else 1.5 # Note: These values are copied straight from the Teagle configuration. # They need to be updated for Transdec!! # gate = Gate( #     depth=2.0, #     gate_width_threshold=0.4, #     charge_dist=16 if is_mainsub() else 12 # ) # #dice = Dice( #    depth=3.3, #    max_depth=4, #    search_forward=4, #    search_stride=8, #    search_speed=0.2, #    min_dot_radius=0.04, #    ram_dist=1.5, #    ram_speed=0.16, #    rammed_back_up_timeout=20, #    lost_sight_back_up_timeout=5, #    search_default_zero_timeout=60, #) # #highway = Highway( #    high_depth=1.6, #    low_depth=1.6, #    dist=6 if is_mainsub() else 2, #    speed=0.4 if is_mainsub() else 0.2, #) # #track = Track( #    depth=2.2 if is_mainsub() else 2.2, #    slow_down_dist=5, #    max_speed=0.3 if is_mainsub() else 0.2, #    min_speed=0.1, #    vision_frame_period=0.5, #) # #roulette = Roulette( #    depth_search=1.5, #    depth_realign=3.2, #    depth_drop=3.9, #    heading_offset=-30, #) # #cash_in = CashIn( #    approach_funnel_depth=0.5, #    drop_approach_dist=0.2, #    # (right, left) #    drop_dvl_forward_correct_dist=(0.1, -0.13), #    drop_heading_correct=(0, -7), #    pick_up_both_depth=2.0, #    pick_up_search_depth_1=2.5, #    pick_up_search_depth_2=3.0, #    pick_up_search_depth_3=3.5, #    pick_up_start_follow_depth=4.5, #    attempt_surface_depth=-1, #    attempt_funnel_depth=0, #)