//*******************************************************
// ShoreSide Configuration File

ServerHost = localhost
ServerPort = 9000
Community  = shoreside

#include plug_origin_warp.moos
  
//--------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 200

  Run = MOOSDB              @ NewConsole = false
#ifdef LAUNCH_GUI yes
  Run = pMarineViewer	      @ NewConsole = false
#endif

	Run = pLogger             @ NewConsole = false
  Run = pShare              @ NewConsole = false
  Run = pHostInfo           @ NewConsole = false
  Run = uProcessWatch       @ NewConsole = false
  Run = uFldShoreBroker     @ NewConsole = false
  Run = uFldNodeComms       @ NewConsole = false
  Run = uFldCollisionDetect @ NewConsole = false
  Run = pRealm              @ NewConsole = false
  Run = uFldRescueMgr       @ NewConsole = false
}

#include plug_pHostInfo.moos
#include plug_pShare.moos
#include plug_uProcessWatch.moos

//--------------------------------------------------
// uQueryDB config block

ProcessConfig = uQueryDB
{
  AppTick   = 4
  CommsTick = 4

  halt_max_time  = 600
  pass_condition = (UFRM_WINNER != pending)
}       

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

ProcessConfig = pRealm                                          
{                                                               
  AppTick   = 4
  CommsTick = 4
  
  relcast_interval = 0.8
  summary_interval = 2.0
  wrap_length = 90
  trunc_length = 270
  msg_max_hist = 30
                                                                
  hist_var  = SWIMMER_ALERT_ABE
  hist_var  = SWIMMER_ALERT_BEN
  hist_var  = FOUND_SWIMMER
                                                                
	app_logging = true
}
	
//------------------------------------------
// uFldRescueMgr config block

ProcessConfig = uFldRescueMgr
{
  AppTick   = 4
  CommsTick = 4

	app_logging = true

	swim_file = $(SWIM_FILE)

	finish_flag = RETURN_ALL = true
	
	rescue_rng_min = 3
	rescue_rng_max = 5
	rescue_rng_pd  = 1.0

	swimmer_color = lime

//	finish_upon_win = true
	
	show_rescue_rng = true
	rescue_rng_transparency = 0.1
}

//--------------------------------------------------
// uFldNodeComms config block

ProcessConfig = uFldNodeComms
{
  AppTick   = 2
  CommsTick = 2

  comms_range      = 500
  critical_range   = 40
  min_msg_interval = 0
  max_msg_length   = 1000
  view_node_rpt_pulses = true
}

//--------------------------------------------------
// uFldShoreBroker config block

ProcessConfig = uFldShoreBroker
{
  AppTick   = 1
  CommsTick = 1

  qbridge = DEPLOY, NODE_REPORT, NODE_MESSAGE, SURVEY
  qbridge = STATION_KEEP, APPCAST_REQ, SWIMMER_ALERT
  qbridge = MOOS_MANUAL_OVERIDE, MOOS_MANUAL_OVERRIDE
  qbridge = SURVEY_UPDATE, SCOUTED_SWIMMER, CONTACT_INFO
  qbridge = NODE_COLOR_CHANGE, PID_THRUST_CAP
  
  bridge  = src=AVOID
  bridge  = src=UFRM_LEADER
  bridge  = src=UFRM_WINNER
  bridge  = src=UFRM_FINISH
  bridge  = src=FOUND_SWIMMER
  bridge  = src=RESCUED_SWIMMER
  bridge  = src=RESCUE_REGION
 
  bridge  = src=RETURN_ALL, alias=RETURN
  bridge  = src=RETURN_$V,  alias=RETURN
}

//--------------------------------------------------
// pLogger config block

ProcessConfig = pLogger
{
  AppTick       = 10
  CommsTick     = 10
  
  File          = XLOG_SHORESIDE
  PATH          = ./
  AsyncLog      = true
  FileTimeStamp = true

	Log = MOB_ALERT @ 0 nosync
	
  // Log it all!!!!!
  WildCardLogging = true 
}


//--------------------------------------------------------
// uFldCollisionDetect config block

ProcessConfig = uFldCollisionDetect
{
  AppTick    = 4
  CommsTick  = 4

  collision_range = 4
  near_miss_range = 8
  encounter_range = 20

  encounter_flag = ENCOUNTER = $CPA                             
  collision_flag = COLLISION = $CPA                             
  near_miss_flag = NEAR_MISS = vname1=$V1,vname2=$V2,cpa=$CPA   

  //delay_time_to_clear = 100   // seconds
  //deploy_delay_time   = 5     // seconds
  pulse_render = true
  pulse_range  = 20
  pulse_duration = 10

	encounter_rings = false
  //publish_immediately = true
}


//--------------------------------------------------------
// pMarineViewer config block

ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

	app_logging = true
	
  //tiff_file            = forrest19.tif
  tiff_file            = MIT_SP.tif
  set_pan_x            = 46
  set_pan_y            = -260
  zoom                 = 1.5
  vehicles_shape_scale = 1.0
  vehicles_name_mode   = names+shortmode

	procs_font_size = medium
	nodes_font_size = medium
	infocast_font_size = medium
	
  polygon_viewable_all    = true
  polygon_viewable_labels = false
  seglist_viewable_all    = true
  seglist_viewable_labels = false
  point_viewable_all    = true
  point_viewable_labels = true

  left_context[unreg_swimmer]   = XSWIMMER_ALERT = type=unreg,x=$[XPOS],y=$[YPOS]	
  left_context[unreg_swimmer]   = SURVEY_ALL=true 
  left_context[unreg_swimmer]   = RETURN_ALL=false

  left_context[reg_swimmer]   = XSWIMMER_ALERT = type=reg,x=$[XPOS],y=$[YPOS]	
  left_context[reg_swimmer]   = SURVEY_ALL=true 
  left_context[reg_swimmer]   = RETURN_ALL=false

  right_context[rescue]  = XFOUND_SWIMMER = x=$[XPOS],y=$[YPOS]	
  right_context[floater] = XSWIMMER_ALERT = type=floater,x=$[XPOS],y=$[YPOS]	

  appcast_viewable     = true
  appcast_color_scheme = indigo

  action = menu_key=abe # DEPLOY_ABE=true
  action = menu_key=abe # MOOS_MANUAL_OVERIDE_ABE=false
  action = menu_key=abe # RETURN_ABE=false

  action = menu_key=ben # DEPLOY_BEN=true
  action = menu_key=ben # MOOS_MANUAL_OVERIDE_BEN=false
  action = menu_key=ben # RETURN_BEN=false

  comms_pulse_viewable_all = true
  range_pulse_viewable_all = false
  node_pulse_viewable_all  = false

	watch_cluster = key=mission_top, vars=DEPLOY:RETURN:SURVEY:STATION_KEEP
	watch_cluster = key=mission_top, vars=MODE:MOOS_MANUAL_OVERRIDE
	
  vehicles_name_mode = names

  stale_report_thresh = 2
  stale_remove_thresh = 20000

  button_one   = DEPLOY  # DEPLOY_ALL=true 
  button_one   = DEPLOY  # MOOS_MANUAL_OVERRIDE_ALL=false 
  button_one   = RETURN_ALL=false # SURVEY_ALL=true
  button_one   = STATION_KEEP_ALL=false 

  button_two   = RETURN   # RETURN_ALL=true  # SURVEY_ALL=false
  button_three = STATION  # STATION_KEEP_ALL=true # SURVEY_ALL=false
  button_four = ALLSTOP  # DEPLOY_ALL=false

  button_5 = VANTAGE1  # PMV_CENTER=zoom=1.8,x=46,y=-280
  button_6 = VANTAGE2  # PMV_CENTER=zoom=2.6,x=17,y=-350

	button_7 = Buff1 # CONTACT_INFO_ALL=min_util_cpa_dist=4
	button_7 = Buff1 # CONTACT_INFO_ALL=max_util_cpa_dist=10

	button_8 = Buff2 # CONTACT_INFO_ALL=min_util_cpa_dist=8
	button_8 = Buff2 # CONTACT_INFO_ALL=max_util_cpa_dist=14

	button_9 = TCAP100  # PID_THRUST_CAP_ALL=100
	button_10 = TCAP50  # PID_THRUST_CAP_ALL=50
	

	}