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

ServerHost = localhost
ServerPort = $(SPORT)
Community  = $(SNAME)

#include ../plug_origin_warp.moos

//--------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB          @ NewConsole = false
  Run = pLogger         @ NewConsole = false
  Run = uProcessWatch   @ NewConsole = false

  Run = pMarineViewer   @ NewConsole = false

  Run = pHostInfo       @ NewConsole = false
  Run = pShare          @ NewConsole = false
  Run = uFldShoreBroker @ NewConsole = false
  Run = uFldNodeComms   @ NewConsole = false

  Run = uFldFlagManager @ NewConsole = false
  Run = uFldTagManager  @ NewConsole = false

  Run = iSay            @ NewConsole = false
}

//--------------------------------------------------
// uFldFlagMgr Configuration Block

ProcessConfig = uFldFlagManager
{
  AppTick       = 2
  CommsTick     = 2

  near_flag_range_buffer = 0

  flag = $(RED_FLAG), color=red, label=red
  flag = $(BLUE_FLAG), color=blue, label=blue

//  grab_post = var=SAY_MOOS, sval={say={$VNAME has the $FLAG flag}}
//  grab_post = var=SAY_MOOS_ALL, sval={say={$VNAME has the $FLAG flag}}

  grab_post = var=SAY_MOOS, sval={file=sounds/grab_post_$VNAME.wav}
  grab_post = var=SAY_MOOS_ALL, sval={file=sounds/grab_post_$VNAME.wav}

  grab_post = var=LED_HAVE_FLAG_$UP_VNAME, sval={true}  

//  lose_post = var=SAY_MOOS, sval={say={the $FLAG flag has been returned}}
//  lose_post = var=SAY_MOOS_ALL, sval={say={the $FLAG flag has been returned}}

  lose_post = var=SAY_MOOS, sval={file=sounds/lose_post_$FLAG.wav}
  lose_post = var=SAY_MOOS_ALL, sval={file=sounds/lose_post_$FLAG.wav}

  lose_post = var=LED_HAVE_FLAG_$UP_VNAME, sval={false}  

  near_post = var=SAY_MOOS, sval={file=sounds/shipbell.wav}
  near_post = var=SAY_MOOS_$UP_VNAME, sval={file=sounds/shipbell.wav}

  near_post = var=LED_IN_FLAG_ZONE_$VNAME, sval={true}  

  away_post = var=SAY_MOOS, sval={file=sounds/buzzer.wav}
  away_post = var=SAY_MOOS_$UP_VNAME, sval={file=sounds/buzzer.wav}

  away_post = var=LED_IN_FLAG_ZONE_$VNAME, sval={false}  

  deny_post = var=SAY_MOOS, sval={file=sounds/deny_post_$REASON.wav}
  deny_post = var=SAY_MOOS_$UP_VNAME, sval={file=sounds/deny_post_$REASON.wav}

  home_post = var=UNTAG_REQUEST, sval={vname=$VNAME}
  home_post = var=FLAG_RESET, sval={vname=$VNAME}

  home_post = var=LED_HAVE_FLAG_$UP_VNAME, sval={false} 

//	goal_post = var=SAY_MOOS, sval={say={$VTEAM has scored}}
//	goal_post = var=SAY_MOOS_ALL, sval={say={$VTEAM has scored}}

	goal_post = var=SAY_MOOS, sval={file=sounds/goal_post_$VTEAM.wav}
	goal_post = var=SAY_MOOS_ALL, sval={file=sounds/goal_post_$VTEAM.wav}

  goal_post = var=LED_HAVE_FLAG_$UP_VNAME, sval={false} 

}

//--------------------------------------------------
// uFldTagManager Configuration Block

ProcessConfig = uFldTagManager
{
  AppTick   = 4
  CommsTick = 4

  tag_range = 10     // default (meters)

  post_color = white  // default

  tag_circle = true
  tag_circle_range = 5
  tag_circle_color = "green"
  tag_min_interval = 10

  tag_duration = 10000

  //robot_tag_post   = MOOS_MANUAL_OVERRIDE_$UP_TARGET=true
//  human_tag_post   = SAY_MOOS_ALL=say={$TARGET_has_been_tagged},rate=200
//  human_tag_post   = SAY_MOOS=say={$TARGET_has_been_tagged},rate=200

  human_tag_post   = SAY_MOOS_ALL=file=tag_post_$TARGET.wav
  human_tag_post   = SAY_MOOS=file=tag_post_$TARGET.wav

  // human_tag_post   = SAY_MOOS_$UP_TARGET=say={you_have_been_tagged},rate=200
//  robot_tag_post   = SAY_MOOS_ALL=say={$TARGET_has_been_tagged},rate=200
//  robot_tag_post   = SAY_MOOS=say={$TARGET_has_been_tagged},rate=200

  robot_tag_post   = SAY_MOOS_ALL=file=tag_post_$TARGET.wav
  robot_tag_post   = SAY_MOOS=file=tag_post_$TARGET.wav

  // robot_tag_post   = SAY_MOOS_$UP_TARGET=say={you_have_been_tagged},rate=200

  // Return Flag
  human_tag_post   = FLAG_RESET=vname=$TARGET
  robot_tag_post   = FLAG_RESET=vname=$TARGET
  human_tag_post   = TAGGED_$UP_TARGET=true
  robot_tag_post   = TAGGED_$UP_TARGET=true

  robot_tag_post   = LED_TAGGED_$UP_TARGET=true
  human_tag_post   = LED_TAGGED_$UP_TARGET=true

  //robot_untag_post = MOOS_MANUAL_OVERRIDE_$UP_TARGET=false
  // human_untag_post   = SAY_MOOS=say={$TARGET_has_been_untagged},rate=200
  // human_untag_post   = SAY_MOOS_$UP_TARGET=say={you_have_been_untagged},rate=200
  // robot_untag_post   = SAY_MOOS=say={$TARGET_has_been_untagged},rate=200
  // robot_untag_post   = SAY_MOOS_$UP_TARGET=say={you_have_been_untagged},rate=200

//  human_untag_post = SAY_MOOS_ALL=say={$TARGET_has_been_untagged},rate=200
//  human_untag_post = SAY_MOOS=say={$TARGET_has_been_untagged},rate=200
  human_untag_post = SAY_MOOS_ALL=file=sounds/untag_post_$TARGET.wav
  human_untag_post = SAY_MOOS=file=sounds/untag_post_$TARGET.wav
  human_untag_post = TAGGED_$UP_TARGET=false

  human_untag_post = LED_TAGGED_$UP_TARGET=false
  
//  robot_untag_post = SAY_MOOS_ALL=say={$TARGET_has_been_untagged},rate=200
//  robot_untag_post = SAY_MOOS=say={$TARGET_has_been_untagged},rate=200
  robot_untag_post = SAY_MOOS_ALL=file=sounds/untag_post_$TARGET.wav
  robot_untag_post = SAY_MOOS=file=sounds/untag_post_$TARGET.wav
  robot_untag_post = TAGGED_$UP_TARGET=false

  robot_untag_post = LED_TAGGED_$UP_TARGET=false

  //notag_post = SAY_MOOS_$UP_SOURCE=say={Tag Denied $REASON},rate=200
  notag_post = SAY_MOOS_$UP_SOURCE=file=sounds/tag_denied.wav
  
  team_one=red
  team_two=blue

  zone_one = pts={ 56,16 : -15,-17 : 17,-83 : 82,-56 }
  zone_two = pts={ -15,-17 : -83,-49 : -53,-114 : 17,-83 }

  zone_one_color = pink
  zone_two_color = dodger_blue
}

//---------------------------------------------------------
// pShare Configuration Block

ProcessConfig = pShare
{
  AppTick    = 2
  CommsTick  = 2

  input = route =  localhost:$(SHARE_LISTEN)
//  input = route =  multicast_7
}

//--------------------------------------------------
// ufldnodecomms Configuration Block

ProcessConfig = uFldNodeComms
{
  AppTick       = 2
  CommsTick     = 2

  comms_range      = 5000
  critical_range   = 25

  min_msg_interval = 0
  max_msg_length   = 10000
  groups           = false

  view_node_rpt_pulses = false
}


//--------------------------------------------------
// uFldShoreBroker Configuration Block
ProcessConfig = uFldShoreBroker
{
  AppTick       = 1
  CommsTick     = 1

  // Note: [QBRIDGE = FOO]  is shorthand for
  //       [BRIDGE = src=FOO_$V,  alias=FOO] and
  //       [BRIDGE = src=FOO_ALL, alias=FOO]

  qbridge  = DEPLOY, RETURN, STATION, NODE_REPORT, NODE_MESSAGE
  qbridge  = MOOS_MANUAL_OVERRIDE, APPCAST_REQ, AVOID, CHASE
  qbridge  = TAGGED
  qbridge  = HAS_FLAG
  qbridge  = ACTION, AGGRESSIVE, SHIELD_REQUEST
  qbridge  = SAY_MOOS
  qbridge  = ONFIELD, CANTAG

  bridge   = src=IN_OWN_TERRITORY
  bridge   = src=IN_ENEMY_TERRITORY
  bridge  = src=TAGGED_VEHICLES
  bridge   = src=UP_LOITER_$N, alias=UP_LOITER
  bridge   = src=HELM_MAP_CLEAR, alias=HELM_MAP_CLEAR
  bridge   = src=FLAG_SUMMARY
  bridge   = src=MULTI_NOTIFY

  qbridge = LED_TAGGED
  qbridge = LED_HAVE_FLAG
  qbridge = LED_IN_FLAG_ZONE

  qbridge = AQUATICUS_GAME
  qbridge = UFMG_HEARTBEAT
}


//--------------------------------------------------
ProcessConfig = pHostInfo
{
  AppTick     = 2
  CommsTick   = 2

//  DEFAULT_HOSTIP = localhost
}

//--------------------------------------------------
// pLogger Configuration Block

ProcessConfig = pLogger
{
  AppTick       = 10
  CommsTick     = 10

  File          = C%(CID)_LOG_SHORESIDE
  PATH          = ./
  SyncLog       = true @ 0.2
  AsyncLog      = true
  FileTimeStamp = true

  LogAuxSrc     = true

  // Log it all!!!!!
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}

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

  //TIFF_FILE            = forrest19.tif
  TIFF_FILE            = MIT_SP.tif
  set_pan_x            = 129
  set_pan_y            = -364
  zoom                 = 2.5
  vehicles_shape_scale = 1.5
  vehicles_name_mode   = names

  circle_viewable_all = true

  appcast_viewable = true
  appcast_color_scheme = indigo

  scope = FLAG_GRAB_REPORT
  scope = NODE_BROKER_PING
  scope = DEPLOY_ALL

  action = AQUATICUS_GAME_ALL = play
  action = AQUATICUS_GAME_ALL = pause
  action = AQUATICUS_GAME_ALL = stop

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

  button_two   = RETURN  # RETURN_ALL=true
  button_two   = RETURN  # STATION_KEEP_ALL=false

  button_three = CTF_RESET   # UNTAG_REQUEST=vname=red_one
  button_three = UNTAG_REQUEST=vname=red_two
  button_three = UNTAG_REQUEST=vname=red_three
  button_three = UNTAG_REQUEST=vname=red_four
  button_three = UNTAG_REQUEST=vname=blue_one
  button_three = UNTAG_REQUEST=vname=blue_two
  button_three = UNTAG_REQUEST=vname=blue_three
  button_three = UNTAG_REQUEST=vname=blue_four
  button_three = FLAG_RESET=all

  button_four = PAUSE # DEPLOY_ALL=false
  button_four = MOOS_MANUAL_OVERRIDE_ALL=true
  button_four = AQUATICUS_GAME_STATE=pause

  op_vertex = x=56,   y=16,  lwidth=1,lcolor=yellow,looped=true,group=moa
  op_vertex = x=-83, y=-49,  lwidth=1,lcolor=yellow,looped=true,group=moa
  op_vertex = x=-53, y=-114, lwidth=1,lcolor=yellow,looped=true,group=moa
  op_vertex = x=82,   y=-56, lwidth=1,lcolor=yellow,looped=true,group=moa


  cmd = label=DEPLOY, var=DEPLOY,  sval=true,  receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four
  cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE, sval=false, receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four
  cmd = label=DEPLOY, var=RETURN,  sval=false,  receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four

  cmd = label=RETURN, var=RETURN, sval=true, receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four

  cmd = label=ATTACK, var=ACTION, sval=ATTACK, receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four
  cmd = label=ATTACK, var=AGGRESSIVE, sval=true, receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four

  cmd = label=ATTACK_NICELY, var=ACTION, sval=ATTACK, receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four
  cmd = label=ATTACK_NICELY, var=AGGRESSIVE, sval=false, receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four

  cmd = label=ATTACK_RIGHT, var=ACTION, sval=ATTACK_RIGHT, receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four

  cmd = label=ATTACK_LEFT, var=ACTION, sval=ATTACK_LEFT, receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four

  cmd = label=DEFEND, var=ACTION, sval=DEFEND, receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four

  cmd = label=COVER, var=ACTION, sval=COVER, receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four

  cmd = label=TRAIL, var=ACTION, sval=TRAIL, receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four

  cmd = label=STATION, var=ACTION,  sval=STATION,  receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four

  cmd = label=PROTECT, var=ACTION,  sval=PROTECT,  receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four
  
  cmd = label=SHIELD, var=ACTION,  sval=SHIELD,  receivers=all:red_one:red_two:red_three:red_four:blue_one:blue_two:blue_three:blue_four

  cmd = label=SWITCH, var=SHIELD_REQUEST,  sval=requestor=blue_two,  receivers=blue_one:blue_two:blue_three:blue_four

  cmd = label=SWITCH, var=SHIELD_REQUEST,  sval=requestor=red_two,  receivers=all:red_one:red_two:red_three:red_four

  cmd = label=SWITCHA, var=SHIELD_REQUEST,  sval=requestor=red_two,  receivers=all:red_one:red_two:red_three:red_four:rA:rB:rC:rD:rE:rF:rG:rH

  cmd = label=SWITCHB, var=SHIELD_REQUEST,  sval=requestor=red_two,  receivers=all:red_one:red_two:red_three:red_four

  cmd = label=SWITCHC, var=SHIELD_REQUEST,  sval=requestor=red_two,  receivers=all:red_one:red_two:red_three:red_four

  cmd = label=SWITCHD, var=SHIELD_REQUEST,  sval=requestor=red_two,  receivers=all:red_one:red_two:red_three:red_four

}

//--------------------------------------------------------
// uProcessWatch Configuration Block

ProcessConfig = uProcessWatch
{
  AppTick   = 1
  CommsTick = 1

  allow_retractions = true

  watch_all = true      // default is true

  nowatch = uXMS*
  nowatch = uPokeDB*

  summary_wait = 10
}

//------------------------------------------
ProcessConfig = iSay
{
  AppTick   = 5
  CommsTick = 5

  min_utter_interval = 1.5
  interval_policy    = from_start

  os_mode=both
  audio_dir=sounds
}

//----------------------------------------
ProcessConfig = pTimeWatch
{
  AppTick   = 4
  CommsTick = 4
  
  watch_var = NODE_REPORT

  threshhold = 30
  //local_offset = 30
}