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

ServerHost = localhost
ServerPort = 9000
Community  = shoreside

TERM_REPORTING = false

#include plug_origin_warp.moos
  
//--------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB          @ NewConsole = false
  Run = pMarineViewer   @ NewConsole = false
  Run = pLogger         @ NewConsole = false

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

	
	Run = iSay            @ NewConsole = false
	Run = uFldTagManager  @ NewConsole = false
}

#include plug_pHostInfo.moos


//---------------------------------------------------------
// iSay Config Block

ProcessConfig = iSay
{                                                               
  AppTick   = 2
  CommsTick = 2 
}
  
//---------------------------------------------------------
// uFldTagManager Config Block

ProcessConfig = uFldTagManager                                  
{                                                               
  AppTick   = 4                                                 
  CommsTick = 4                                                 
                                                                
  tag_range = 50     // default (meters)                       
                                                                
  post_color = white  // default                                

	human_platform = mokai
	
	tag_circle = true
	tag_circle_range = 5
	tag_circle_color = "green"
	tag_min_interval = 2

	robot_tag_post  = MOOS_MANUAL_OVERRIDE_$UP_TARGET=true
	robot_tag_post  = SAY_MOOS=file=sounds/tennis_grunt.wav

	human_tag_post  = MOOS_MANUAL_OVERRIDE_$UP_TARGET=true
	human_tag_post  = SAY_MOOS=file=sounds/t2_hasta_la_vista.wav

	robot_untag_post = MOOS_MANUAL_OVERRIDE_$UP_TARGET=false
	robot_untag_post = SAY_MOOS=file=sounds/shipbell.wav

	human_untag_post = MOOS_MANUAL_OVERRIDE_$UP_TARGET=false
	human_untag_post = SAY_MOOS=file=sounds/t2_no_problemo.wav
	
  team_one = red                                                
  team_two = blue                                               
                                                                
  zone_one = pts={0,-20:120,-20:120,-100:0,-100}                
  zone_two = pts={0,-100:120,-100:120,-180:0,-180}              

	zone_one_color = pink
	zone_two_color = light_blue
}                                                       
	
//---------------------------------------------------------
// pShare Config Block

ProcessConfig = pShare
{
  AppTick    = 2
  CommsTick  = 2

  input = route = multicast_8
}


//--------------------------------------------------
// uFldNodeComms Configuration Block

ProcessConfig = uFldNodeComms
{
  AppTick   = 2
  CommsTick = 2

           COMMS_RANGE = 75
        CRITICAL_RANGE = 25
      MIN_MSG_INTERVAL = 20
        MAX_MSG_LENGTH = 100
  VIEW_NODE_RPT_PULSES = true
}

//--------------------------------------------------
// uFldShoreBroker Configuration Block

ProcessConfig = uFldShoreBroker
{
  AppTick   = 1
  CommsTick = 1

  QBRIDGE = DEPLOY, NODE_REPORT, NODE_MESSAGE
  QBRIDGE = STATION_KEEP, APPCAST_REQ
  QBRIDGE = MOOS_MANUAL_OVERRIDE
 
  BRIDGE  = src=RETURN_ALL, alias=RETURN
  BRIDGE  = src=RETURN_$V,  alias=RETURN
}

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

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

  // Log it all!!!!!
  WildCardLogging = true 
}


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

  tiff_file            = forrest19.tif
  set_pan_x            = -90
  set_pan_y            = -280
  zoom                 = 0.65
  vehicles_shape_scale = 1.5
  vehicles_name_mode   = names+shortmode

  appcast_viewable     = true
  appcast_color_scheme = indigo

  comms_pulse_viewable_all = false
  vehicles_name_mode = names

  stale_report_thresh = 2
  stale_remove_thresh = 20

  scope = TAG_POST

  button_one   = DEPLOY  # DEPLOY_ALL=true 
  button_one   = MOOS_MANUAL_OVERRIDE_ALL=false 
  button_one   = RETURN_ALL=false
  button_two   = RETURN  # RETURN_ALL=true
}