//-------------------------------------------------
// NAME: M. Benjamin, MIT CSAIL
// FILE: ucmd_test.moos
//-------------------------------------------------

ServerHost = localhost
ServerPort = 9000
Community  = alpha

MOOSTimeWarp = 1

// Forest Lake
LatOrigin  = 43.825300 
LongOrigin = -70.330400 

//------------------------------------------
// Antler configuration  block
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 200

  Run = MOOSDB          @ NewConsole = false
  Run = uCommand        @ NewConsole = false
}

//------------------------------------------
// uCommand

ProcessConfig = uCommand
{ 
  AppTick   = 4                                                 
  CommsTick = 4                                                 

	limited_vnames = gus,felix,evan

	cmd = label=station:True,  var=STATION,   sval=true, receivers=all
	cmd = label=station:False,  var=STATION,  sval=false, receivers=all


  cmd = label=loiter,   var=LOITER,      sval=true, receivers=gus
  cmd = label=loiter,   var=STATION,     sval=false, receivers=gus
  cmd = label=poly_west, var=LOITER_POLY, sval={60,-40:60,-160:150,-160}, receivers=evan:felix

  cmd = label=cover,    var=LOITER,      sval=true, receivers=gus:felix:henry:gilda:davis

	cmd = label=defend-A, var=DEFEND,      sval={region=a}, receivers=gus:felix
	cmd = label=defend-B, var=DEFEND,      sval={region=b}, receivers=gus:felix
	cmd = label=defend-C, var=DEFEND,      sval={region=c}, receivers=gus:felix
}