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

ServerHost = localhost
ServerPort = 9000
Community  = shoreside

TERM_REPORTING = true

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

  Run = MOOSDB          @ NewConsole = false
  Run = pRealm          @ 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 = uFldCollisionDetect  @ NewConsole = false
}

#include plug_pHostInfo.moos

//--------------------------------------------------
// uFldCollisionDetect

ProcessConfig = uFldCollisionDetect
{
  AppTick       = 4
  CommsTick     = 4

  encounter_range = 30
  collision_range = 8
  near_miss_range = 12

  post_closest_range = true

  // condition = COLLISION_DETECT=true
  condition = DEPLOY_ALL=true

  // collision_flag = COLLISION_$UP_V1_$UP_V2 = $CPA
  //collision_flag = COLLISION = $CPA
  //near_miss_flag = NEAR_MISS = $CPA
  //encounter_flag = ENCOUNTER = $CPA

  //near_miss_flag = NEAR_MISS_$UP_V1 = $CPA
  //near_miss_flag = NEAR_MISS_$UP_V2 = $CPA
  //collision_flag = COLLISION_$UP_V1 = $CPA
  //collision_flag = COLLISION_$UP_V2 = $CPA

  //encounter_flag = EVAL_LOITER_REQ_$UP_V1 = id=$IDX, cpa=$CPA, v2=$V2
  //encounter_flag = EVAL_LOITER_REQ_$UP_V2 = id=$IDX, cpa=$CPA, v2=$V1

  //pulse_render   = true
  //pulse_range    = 20
  //pulse_duration = 30
}


//---------------------------------------------------------
// pShare Config Block

ProcessConfig = pShare
{
  AppTick    = 2
  CommsTick  = 2

  input = route = localhost:9300
}


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

ProcessConfig = uFldNodeComms
{
  AppTick   = 2
  CommsTick = 2

  comms_range      = 99999
  critical_range   = 225
  min_msg_interval = 0
  max_msg_length   = 1000
  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_OVERIDE, TRANSIT, WPT_UPDATE
  qbridge = MISSION_TASK, CONVOY, LOITER 
  
  bridge  = src=AVOID, alias=AVOID
 
  bridge  = src=RETURN_ALL, alias=RETURN
  bridge  = src=RETURN_$V,  alias=RETURN
}

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

ProcessConfig = pLogger
{
  AppTick       = 10
  CommsTick     = 10
  
  File          = XLOG_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

  polygon_viewable_all    = true
  polygon_viewable_labels = false
  seglist_viewable_all    = false
  seglist_viewable_labels = false
  point_viewable_all    = true
  point_viewable_labels = false

	nodes_font_size      = xlarge
	procs_font_size      = xlarge
	appcast_font_size    = large
  appcast_viewable     = true
  appcast_color_scheme = indigo

  action = menu_key=abe_stop # DEPLOY_ABE=false
  action = menu_key=abe_stop # MOOS_MANUAL_OVERIDE_ABE=true

  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=abe # LOITER_ABE=true

  action = menu_key=abe_spd_5 # WPT_UPDATE_ABE=speed=5
  action = menu_key=abe_spd_4 # WPT_UPDATE_ABE=speed=4
  action = menu_key=abe_spd_3 # WPT_UPDATE_ABE=speed=3
  action = menu_key=abe_spd_2 # WPT_UPDATE_ABE=speed=2
  action = menu_key=abe_spd_1 # WPT_UPDATE_ABE=speed=1

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

  action = menu_key=convoy_ben # CONVOY_BEN=true
  action = menu_key=convoy_ben # MOOS_MANUAL_OVERIDE_BEN=false
  action = menu_key=convoy_ben # RETURN_BEN=false
  action = menu_key=convoy_ben # LOITER_BEN=false

  comms_pulse_viewable_all = true
  //node_pulse_viewable_all = false
  vehicles_name_mode = names

  stale_report_thresh = 2
  stale_remove_thresh = 20000

  scope = DEPLOY_ALL

  button_one   = DEPLOY  # DEPLOY_ALL=true 
  button_one   = DEPLOY  # MOOS_MANUAL_OVERIDE_ALL=false 
  button_one   = RETURN_ALL=false # TRANSIT_ALL=true
  button_one   = STATION_KEEP_ALL=false # CONVOY_ALL=false

  button_two   = CONVOY:Y  # CONVOY_BEN=true
  button_four  = CONVOY:N  # CONVOY_BEN=false
  button_three = RETURN  # RETURN_ALL=true # TRANSIT_ALL=false
  }