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

ServerHost = localhost
ServerPort = $(VPORT)
Community  = $(VNAME)

#include plug_origin_warp.moos
  
//--------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 400

  Run = MOOSDB           @ NewConsole = false
  Run = pMarineViewer    @ NewConsole = false
  Run = pLogger          @ NewConsole = false
  Run = uFldHazardSensor @ NewConsole = false
  Run = uFldHazardMetric @ 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
#include plug_pLogger.moos

//--------------------------------------------------
// 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]

  BRIDGE   = src=UHZ_OPTIONS_SUMMARY

  QBRIDGE  = DEPLOY, RETURN, NODE_REPORT, NODE_MESSAGE
  QBRIDGE  = MOOS_MANUAL_OVERRIDE, APPCAST_REQ, UHZ_CONFIG_ACK
  QBRIDGE  = UHZ_HAZARD_REPORT, UHZ_DETECTION_REPORT, UHZ_CONFIG_ACK
  QBRIDGE  = UHM_REPORT_REQUEST
}

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

ProcessConfig = uFldNodeComms
{
  AppTick       = 2
  CommsTick     = 2

           COMMS_RANGE = 50
        CRITICAL_RANGE = 25
      MIN_MSG_INTERVAL = 20
        MAX_MSG_LENGTH = 1000
                GROUPS = true
  VIEW_NODE_RPT_PULSES = true
}

//--------------------------------------------------
// uFldHazardSensor Configuration Block

ProcessConfig = uFldHazardMetric
{
  AppTick   = 4
  CommsTick = 4

  penalty_missed_hazard = 100
  penalty_false_alarm   = 35     
  max_time              = 600    
  penalty_max_time_over = 500    
  penalty_max_time_overage = 0.5 

  //hazard_file   = hazards_lab14.txt
  hazard_file   = hazards.txt
}

//--------------------------------------------------
// uFldHazardSensor Configuration Block

ProcessConfig = uFldHazardSensor
{
  AppTick       = 4
  CommsTick     = 4

  sensor_config = width=25, exp=4, pclass=0.85
  sensor_config = width=50, exp=2, pclass=0.60
  sensor_config = width=10, exp=6, pclass=0.93

  swath_length  = 5

  default_hazard_shape = triangle
  default_benign_shape = triangle

  swath_transparency = 0.35
  seed_random        = false

  options_summary_interval = 5

  show_swath=true
  show_hazards=true
  //show_reports=44

  hazard_file   = hazards.txt
  //hazard_file   = hazards_lab14.txt
}

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

  TIFF_FILE            = AerialMIT.tif
  set_pan_x            = -32
  set_pan_y            = 200
  zoom                 = 1.3
  vehicles_shape_scale = 1.5
  vehicles_name_mode   = names+shortmode
  marker_viewable_labels = false

  appcast_viewable     = true
  appcast_color_scheme = indigo

  SCOPE = UHZ_HAZARD_REPORT

  //ACTION = STATION_ALL = true

  BUTTON_ONE   = DEPLOY_ARCH  # DEPLOY_ARCHIE=true 
  BUTTON_ONE   = MOOS_MANUAL_OVERRIDE_ARCHIE=false 
  BUTTON_ONE   = RETURN_ARCHIE=false
  BUTTON_TWO   = RETURN_ARCH  # RETURN_ARCHIE=true

  BUTTON_THREE   = REQ_REPORT  # UHM_REPORT_REQUEST_ARCHIE=true
}