ServerHost = localhost
ServerPort = $(MOOS_PORT)
Community  = $(VNAME)

#include plug_origin_warp.moos
  
//------------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 50
   
  Run = MOOSDB             @ NewConsole = false
  Run = uSimMarineX        @ NewConsole = false
  Run = pLogger            @ NewConsole = false
  Run = pNodeReporter      @ NewConsole = false

  Run = pHelmIvP           @ NewConsole = false
  Run = uProcessWatch      @ NewConsole = false
  Run = pContactMgrV20     @ NewConsole = false
  Run = pShare             @ NewConsole = false
  Run = pHostInfoV2        @ NewConsole = false
  Run = pScavenger         @ NewConsole = false

  Run = uFldNodeBroker     @ NewConsole = false
  Run = uFldMessageHandler @ NewConsole = false
  Run = uTimerScript       @ NewConsole = false
  Run = pRealm             @ NewConsole = false
}
  
#include plug_uFldNodeBroker.moos
#include plug_uFldMessageHandler.moos
#include plug_pShare.moos
#include plug_pHostInfoV2.moos
#include plug_pContactMgrV20.moos

#include plug_uSimMarineX.moos
#include plug_pHelmIvP.moos
#include plug_pLogger.moos
#include plug_pNodeReporter.moos
#include plug_uProcessWatch.moos

//------------------------------------------
// pScavenger config block

ProcessConfig = pScavenger
{
  vname = $(VNAME)
	visit_radius = 20
}

//------------------------------------------
// uTimerScript config block

ProcessConfig = uTimerScript
{
  reset_max  = unlimited
	reset_time = end
  event      = var=RESCUE_REQUEST, val=vname=$(VNAME), time=1
}

//------------------------------------------
// pRealm config block

ProcessConfig = pRealm
{
  AppTick   = 4
  CommsTick = 4

	hist_var = MOB_ALERT
	hist_var = FOUND_SWIMMER
	scope_set = name=msgs, vars=MOB_ALERT:FOUND_SWIMMER
}

//------------------------------------------
ProcessConfig = pEncircle
{
   AppTick   = 4
   CommsTick = 4

   circle_position = x=75,y=-195,radius=50
   max_speed = 5
   aggression = 1

   encircle_active = true
   consider_thresh = 30
   on_circle_thresh = 20

   message_color = dodger_blue // or "off"
}