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

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

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

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

#include plug_pShare.moos
#include plug_pHostInfo.moos

//------------------------------------------
// uFldBeaconRangeSensor config block

ProcessConfig = uFldBeaconRangeSensor
{
  AppTick   = 4
  CommsTick = 4

  // System-wide Simulator configuration
  ping_payments = upon_accept
  report_vars   = long

  // Configurations for all vehicles/nodes
  //reach_distance = default = nolimit
  node_push_dist = default = 100
  node_pull_dist = default = 100
  ping_wait      = default = 20

  // Configurations for all beacons
  //default_beacon_report_range  = nolimit
  default_beacon_push_dist  = 85
  default_beacon_pull_dist  = 75
  default_beacon_shape  = circle
  default_beacon_color  = blue
  default_beacon_width  = 5
  default_beacon_freq   = never
  //default_beacon_freq   = 30:50


  // Configurations for individual beacons
  // Example:
  // beacon = x=1,y=2,label=foo,freq=17,shape=square,width=3,color=orange

  beacon    = x=200,  y=0,    label=01
  beacon    = x=-100, y=-100, label=02
  beacon    = x=0,   y=-200, label=03, freq=15
  beacon    = x=-65, y=-345, label=04
  beacon    = x=115, y=-150, label=05, push_dist=33, pull_dist=95
}

//--------------------------------------------------
// 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_KEEP, NODE_REPORT, NODE_MESSAGE
  qbridge  = MOOS_MANUAL_OVERRIDE

  bridge   = src=APPCAST_REQ
  bridge   = src=CRS_RANGE_REPORT_$V, alias=CRS_RANGE_REPORT
}

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

ProcessConfig = uFldNodeComms
{
  AppTick   = 2
  CommsTick = 2

           COMMS_RANGE = 150
        CRITICAL_RANGE = 25
      MIN_MSG_INTERVAL = 20
        MAX_MSG_LENGTH = 1000
                GROUPS = true
  VIEW_NODE_RPT_PULSES = true
}

//---------------------------------------------------- uProcessWatch
ProcessConfig = uProcessWatch                                   
{                                                               
  WATCH_ALL = true                                              
  NOWATCH = uXMS* 
}                                                   

//---------------------------------------------------------- pLogger
ProcessConfig = pLogger
{
  AppTick       = 10
  CommsTick     = 10
  File          = LOG_SHORESIDE
  PATH          = ./
  SyncLog       = true @ 0.2
  AsyncLog      = true
  FileTimeStamp = true

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


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

  TIFF_FILE            = AerialMIT.tif
  set_pan_x            = -32
  set_pan_y            = 150
  zoom                 = 1.3
  vehicles_shape_scale = 3.5
  vehicles_name_viewable = names

  appcast_viewable     = true
  appcast_color_scheme = indigo

  SCOPE = CONTACT_INFO

  ACTION = STATION_ALL = false
  ACTION = STATION_ALL = true

  BUTTON_ONE   = DEPLOY  # DEPLOY_ALL=true 
  BUTTON_ONE   = MOOS_MANUAL_OVERRIDE_ALL=false 
  BUTTON_ONE   = RETURN_ALL=false
  BUTTON_TWO   = RETURN  # RETURN_ALL=true
}