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

ServerHost = localhost
ServerPort = 9000
Community  = shoreside

MOOSTimeWarp = 1
//LatOrigin  = 43.823550
//LongOrigin = -70.331700
LatOrigin  = 42.35500
LongOrigin = -71.089000


//--------------------------------------------------------
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 = uXMS            @ NewConsole = false
  Run = uTimerScript    @ NewConsole = false
  Run = pIITCHS         @ NewConsole = false


}

//---------------------------------------------------------
// pShare Config Block  (Created from Plugin)

ProcessConfig = pShare
{
  AppTick    = 2
  CommsTick  = 2

  input = route =  localhost:9300
}


//--------------------------------------------------
// pHostInfo configuration block from plugin

ProcessConfig = pHostInfo
{
  AppTick 	= 1
  CommsTick 	= 1

  DEFAULT_HOSTIP_FORCE = localhost
}


//--------------------------------------------------
// pLogger Configuration Block (Created from Plugin)

ProcessConfig = pLogger
{
  AppTick 	= 10
  CommsTick 	= 10
  
  File		= LOG_SHORESIDE
  PATH		= ./
  AsyncLog 	= true
  FileTimeStamp = true
  // Log it all!!!!!
  LogAuxSrc       = true
  WildCardLogging = true 

  WildCardOmitPattern = *_STATUS

  CompressAlogs = false
}

ProcessConfig = uXMS
{
    VAR = AGENT_1_SCHEDULE
    VAR = RUN_CS_RUN
    VAR = SCHEDULE
    VAR = VIEW_POLYGON
    VAR = Q1
    VAR = UPDATES_VAR_LIST
    VAR = UP_LOITER
}

//#include plug_pPathProduce.moos
ProcessConfig = uTimerScript                                    
{
	AppTick      = 2
	CommsTick    = 2
	paused        = false

	event = var=RUN_CS_RUN, val="true" , time=5
}  

ProcessConfig = pIITCHS
{
	AppTick = 4
	CommsTick = 4

	AGENT_TOPIC_PREFIX = AGENT_

	PYTHON_APPEND_PATHS = /home/craig/iitchs_MOOS/src:/home/craig/iitchs_MOOS/src/catl_planning/examples
	CASEFILE = two_agent_swap
	IITCHS_PATH = /home/craig/iitchs_MOOS
	SOLVER = SCIP
}
//--------------------------------------------------
// uFldShoreBroker Configuration Block

ProcessConfig = uFldShoreBroker
{
  AppTick       = 1
  CommsTick     = 1

  qbridge  = DEPLOY, NODE_REPORT
  qbridge  = STATION_KEEP, APPCAST_REQ
  qbridge  = MOOS_MANUAL_OVERRIDE

  bridge   = src=RETURN_ALL, alias=RETURN
  bridge   = src=PATH_ORIGIN_$V,  alias=PATH_ORIGIN
  bridge   = src=$V_SCHEDULE, alias=SCHEDULE
  bridge   = src=Q3
  bridge   = src=Q2
  bridge   = src=Q1
  bridge   = src=Q4
  bridge   = src=Q5
  bridge   = src=Q6
  bridge   = src=Q7
  bridge   = src=Q8
  bridge   = src=Q9
  bridge   = src=Q0
}

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

  tiff_file            = MIT_SP.tif
  set_pan_x            = -90
  set_pan_y            = -280
  zoom                 = 0.65
  vehicles_shape_scale = 1.5
  vehicles_name_mode   = names

	nodes_font_size = xlarge
	procs_font_size = xlarge
	appcast_font_size = large

  point_viewable_labels   = false
  polygon_viewable_labels = true
  appcast_viewable     = true
  appcast_color_scheme = indigo
  hash_delta           = 50
  hash_viewable        = true
  hash_shade           = 0.35

  scope = PHI_HOST_INFO

  button_one   = DEPLOY  # DEPLOY_ALL=true
  button_one   = MOOS_MANUAL_OVERRIDE_ALL=false
  button_one   = RETURN_ALL=false # STATION_KEEP_ALL=false

  button_two   = RETURN  # RETURN_ALL=true
  button_two   = STATION_KEEP_ALL=false

  button_three = STATION  # STATION_KEEP_ALL=true
	button_four  = REFUEL # REFUEL_NEEDED_ALL=true
}
ProcessConfig = uFldNodeComms
{
	AppTick   = 2
	CommsTick = 2

	comms_range      = 200
	critical_range   = 25
	min_msg_interval = 0
	max_msg_length   = 48000
	groups           = true
	view_node_rpt_pulses = false
}