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

#include ../plug_origin_warp.moos

//------------------------------------------------------------
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB             @ NewConsole = false
  Run = uProcessWatch      @ NewConsole = false
  Run = pShare             @ NewConsole = false
  Run = pLogger            @ NewConsole = false
  Run = pNodeReporter      @ NewConsole = false
  Run = pMarinePID         @ NewConsole = false
  Run = pHelmIvP           @ NewConsole = false
  Run = pHostInfo          @ NewConsole = false
  Run = pContactMgrV20     @ NewConsole = false
  Run = uFldNodeBroker     @ NewConsole = false
  Run = pDeadManPost       @ NewConsole = false
	Run = pRealm             @ NewConsole = false
#ifdef SIM
  Run = uSimMarine         @ NewConsole = false
#else
  Run = iM1_8		           @ NewConsole = false
#endif
  Run = uFldMessageHandler @ NewConsole = false
  Run = pRangeEvent        @ NewConsole = false
  //Run = pMapMarkers        @ NewConsole = false
  Run = pNodeReportParse   @ NewConsole = false
  Run = pZoneTrackOpponents @ NewConsole = false
  Run = pAquaticusStateMgr @ NewConsole = false
	Run = pRLMonitor         @ NewConsole = false

// extra pav6 apps
#ifdef MULTI_ENABLE yes
  Run = pAqctNodeCtrl      @ NewConsole = false
  Run = pOptionManager    @ NewConsole = false
  Run = pMultiAgentColFilt @ NewConsole = false
#endif


}

#ifdef SIM
	#include plug_uSimMarine.moos
#else
	#include plug_iM1_8.moos
#endif
	
#include ../plug_pShare.moos
#include ../plug_pHostInfo.moos

#include plug_pLogger.moos
#include plug_uProcessWatch.moos
#include plug_pZoneTrackOpponents.moos
#include plug_pAquaticusStateMgr.moos
#include ../plug_pRoleChooser.moos
#include plug_pHelmIvP.moos


//----------------------------------------------- 
ProcessConfig = pContactMgrV20
{
  AppTick   = 2
  CommsTick = 2

  decay = 30,60

  alert_verbose = true

  post_all_ranges = true

	post_closest_range  = true  // Default is false
	post_closest_relbng = true  // Default is false
	
	//hold_alerts_for_helm = true
	
  contact_max_age = 1200

	// display_radii_id = avd
  display_radii   = true

  contact_max_age = 35
	display_radii_id = cut_rng

  alert_range_color = gray70
  cpa_range_color   = gray30

  alert = id=trail, var=TRAIL_INFO, val="name=$[RNAME] # contact=mokai", alert_range=140

	hold_alerts_for_helm = true
}

//------------------------------------------------
// pRangeEvent config block

ProcessConfig = pRangeEvent
{
  AppTick   = 4
  CommsTick = 4

  // Range within which the event is triggered
  min_range = 0 // default
  max_range = 10 // default

  ignore_group = $(VTEAM)

  event_var = TAG_REQUEST=vname=$[SELFVNAME]
}
	
//--------------------------------------------------
// uFldNodeBroker Config Block

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

  try_shore_host = pshare_route=$(SHORE_IP):$(SHORE_PSHARE)

  bridge = src=VIEW_POLYGON
  bridge = src=VIEW_POINT
  bridge = src=VIEW_SEGLIST
  bridge = src=VIEW_CIRCLE
  bridge = src=VIEW_MARKER
  bridge = src=AVDCOL_MODE
  bridge = src=FLAG_GRAB_REQUEST
  bridge = src=TAG_REQUEST
  bridge = src=APPCAST
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE
}

//--------------------------------------------------
// pMarinePID Config Block

ProcessConfig = pMarinePID
{
  AppTick    = 10
  CommsTick  = 10

  VERBOSE       = true
  DEPTH_CONTROL = false
  ACTIVE_START  = true

  // Yaw PID controller (Set for M8_1)
  YAW_PID_KP             = 1.2
  YAW_PID_KD             = 3.0 
  YAW_PID_KI             = 0.0  
  YAW_PID_INTEGRAL_LIMIT = 0.00 
	
  // Speed PID controller
  SPEED_PID_KP           = 0.5
  SPEED_PID_KD           = 0.0
  SPEED_PID_KI           = 0.0
  SPEED_PID_INTEGRAL_LIMIT = 0.00

  // Maximums
  MAXRUDDER  = 100 // 100
  MAXTHRUST  = 100

  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  //SPEED_FACTOR = 20
  deprecated_ok = true
}
	
//--------------------------------------------------
// pNodeReportParse Config Block

ProcessConfig = pNodeReportParse
{
  AppTick   = 4
  CommsTick = 4
}

//--------------------------------------------------
// pNodeReporter Config Block

ProcessConfig = pNodeReporter
{
  AppTick     = 4
  CommsTick   = 4

  vessel_type = $(VTYPE)
  group       = $(VTEAM)
  platform_color = $(VTEAM)
}

//--------------------------------------------------
// uFldMessageHandler Config Block

ProcessConfig = uFldMessageHandler
{
  AppTick   = 3
  CommsTick = 3

  strict_addressing = false
}
	
//--------------------------------------------------
// pDeadManPost Config Block

ProcessConfig = pDeadManPost
{
  AppTick   = 4
  CommsTick = 4

  heartbeat_var   = HEARTBEAT
  max_noheart     = 15
  post_policy     = reset
  active_at_start = false
  deadflag        = DEPLOY = false
}

//--------------------------------------------------
// uProcessWatch Config Block

ProcessConfig = uProcessWatch
{
  AppTick   = 2
  CommsTick = 2

  allow_retractions = true

  watch_all = true // default is true

  nowatch = uMAC*
  nowatch = uXMS*
  nowatch = uPokeDB*
  nowatch = pRLMonitor

  summary_wait  = 12
}
	
//--------------------------------------------------
// pMapMarkers Config Block

ProcessConfig = pMapMarkers
{
  AppTick       = 4
  CommsTick     = 4

	//app_logging = true

	marker_key = $(RNAME)

	//default_marker_color = $(VCOLOR)

	// Part 1A ON-Field coords
	opfield = "ppb=$(PPB)   # pb=$(PB)   # cb=$(CB)   # sb=$(SB)   # ssb=$(SSB)"
	opfield = "ppf=$(PPF)   # pf=$(PF)   # cf=$(CF)   # sf=$(SF)   # ssf=$(SSF)"
	opfield = "pph=$(PPH)   # ph=$(PH)   # ch=$(CH)   # sh=$(SH)   # ssh=$(SSH)"
	opfield = "ppm=$(PPM)   # pm=$(PM)   # cm=$(CM)   # sm=$(SM)   # ssm=$(SSM)"
	opfield = "ppc=$(PPC)   # pc=$(PC)   # cc=$(CC)   # sc=$(SC)   # ssc=$(SSC)"
	opfield = "ppmx=$(PPMX) # pmx=$(PMX) # cmx=$(CMX) # smx=$(SMX) # ssmx=$(SSMX)"
	opfield = "pphx=$(PPHX) # phx=$(PHX) # chx=$(CHX) # shx=$(SHX) # sshx=$(SSHX)"
	opfield = "ppfx=$(PPFX) # pfx=$(PFX) # cfx=$(CFX) # sfx=$(SFX) # ssfx=$(SSFX)"
	opfield = "ppbx=$(PPBX) # pbx=$(PBX) # cbx=$(CBX) # sbx=$(SBX) # ssbx=$(SSBX)"

	// Part 1B ON-Field colors
	opfield = "ppb=green   # pb=white   # cb=white   # sb=white   # ssb=green"
	opfield = "ppf=white   # pf=white   # cf=white   # sf=white   # ssf=white"
	opfield = "pph=white   # ph=white   # ch=white   # sh=white   # ssh=white"
	opfield = "ppm=white   # pm=white   # cm=white   # sm=white   # ssm=white"
	opfield = "ppc=green   # pc=green   # cc=green   # sc=green   # ssc=green"
	opfield = "ppmx=gray40 # pmx=gray40 # cmx=gray40 # smx=gray40 # ssmx=gray40"
	opfield = "pphx=gray40 # phx=gray40 # chx=gray40 # shx=gray40 # sshx=gray40"
	opfield = "ppfx=gray40 # pfx=gray40 # cfx=gray40 # sfx=gray40 # ssfx=gray40"
	opfield = "ppbx=green  # pbx=gray40 # cbx=gray40 # sbx=gray40 # ssbx=green"
	
	// Part 2A OFF-Field coords
	opfield = "xxnw=$(XXNW) # xnw=$(XNW) # xne=$(XNE) # xxne=$(XXNE)"
	opfield = "xxw=$(XXW)   # xw=$(XW)   # xe=$(XE)   # xxe=$(XXE)"
	opfield = "xxsw=$(XXSW) # xsw=$(XSW) # xse=$(XSE) # xxse=$(XXSE)"
	opfield = "xxn=$(XXN)   # xn=$(XN)   # xs=$(XS)   # xxs=$(XXS)"

	opfield = "xnwf=$(XNWF) # xnwh=$(XNWH) # xnwm=$(XNWM) "
	opfield = "xswf=$(XSWF) # xswh=$(XSWH) # xswm=$(XSWM) "
	opfield = "xxnwf=$(XXNWF) # xxnwh=$(XXNWH) # xxnwm=$(XXNWM) "
	opfield = "xxswf=$(XXSWF) # xxswh=$(XXSWH) # xxswm=$(XXSWM) "

	// Part 2B OFF-Field colors
	opfield = "xxnw=red  # xnw=red # xne=red # xxne=red "
	opfield = "xxw=red   # xw=red  # xe=red  # xxe=red"
	opfield = "xxsw=red  # xsw=red # xse=red # xxse=red"
	opfield = "xxn=red   # xn=red  # xs=red  # xxs=red"

	opfield = "xnwf=pink # xnwh=pink # xnwm=pink "
	opfield = "xswf=pink # xswh=pink # xswm=pink "
	opfield = "xxnwf=pink # xxnwh=pink # xxnwm=pink "
	opfield = "xxswf=pink # xxswh=pink # xxswm=pink "

}

//------------------------------------------------                              
// pRLMonitor config block                                                      

ProcessConfig = pRLMonitor
{
   AppTick   = 4
   CommsTick = 4
}



//  Add the configblocs for the pav6 apps

#ifdef MULTI_ENABLE yes
//----------------------------------------------- 
ProcessConfig = pAqctNodeCtrl
{
  AppTick   = 4
  CommsTick = 4

  #ifdef VTEAM red
  	 home_zone_poly = $(RED_ZONE)
	 own_flag_location = $(RED_FLAG)
	 
  #elseifdef VTEAM blue
  	 home_zone_poly = $(BLUE_ZONE)
	 own_flag_location = $(BLUE_FLAG)
  #endif

     rname = $(RNAME)
     
 team_size = 3

 	   // opinion dynamics related
          dist_to_own_flag_gain = -0.7   //-0.5 is a good defensive bias
  enemy_agent_in_home_zone_gain = 50 // maybe 30.0
   		    defend_bias = 0 // maybe -10 //  maybe 5?

     // defense task allocation related
      // 	       min_reallocate_interval = 5 // seconds
      //	       max_reallocate_interval = 10 // seconds

      //	  task_wait_to_resend_interval  = 3 // seconds
	  
   // defense task allocation 2.0 related
      	  intercept_heading_penalty  = 0.1  // meters / degrees
          intercept_static_lead_dist = 9.0
              intercept_speed_extrap = 5.0 // seconds in the future
   use_dynamic_speed_based_lead_dist = true

   // loiter update related
      near_loiter_pt = $(CH)
      far_loiter_pt = $(CM)
      loiter_offset = 15   //  meters
      loiter_offset_angle = $(FLD_ANG)
      
		    
  app_logging = log 

}


//------------------------------------------------
// pOptionManager config block

ProcessConfig = pOptionManager
{
   AppTick   = 10
   CommsTick = 10
   SocialTick = 1

   group = leader    // leader, follower
   
   #ifdef VTEAM red
   	  node_message_dest_group = red
   #elseifdef VTEAM blue
   	  node_message_dest_group = blue
   #endif

   option_file = aquaticus3.opt


   satFunOrder = 2.0
   u_th  = 30.0
   tau_u = 10.0

   min_attention = 0.50
   max_attention = 0.50
 
   opinion_thresh = 0.1

   neighbor_msg_stale_thresh = 2.0 // seconds
   // set sensitivity_g  and tau_u internally

   // Example messages:
   // OPINION_MESSAGE=VNAME,GROUP,OPTION1_NAME,OPTION1_OPINION,OPTION2_NAME,OPTION2_OPINION
   // PROPOSAL_MESSAGE=VNAME,OPTIONX_NAME,VALUE_PROPOSITION

   //app_logging = log
   
}


//------------------------------------------------
// pOpinionManager config block

ProcessConfig = pMultiAgentColFilt
{
   AppTick   = 4
   CommsTick = 4

   	     verbose_visuals = true    // default is false
   post_moos_manual_override = true    // default is true
   	     post_rev_thrust = true    // default is false

    emergency_rev_thrust_cmd = -70.0
   
   own_state_stale_thresh = 1.0
   stale_node_rec_thresh  = 2.0

   //nominal_fwd_reachable_set = pts={0.0,0.0:0.5,5.0:-0.5,5.0}
   nominal_fwd_reachable_set = pts={0.0,0.0:1.5,7.0:-1.5,7.0}
   nominal_fwd_speed = 2.0


}
#endif